From c0dbdfe36373d157fafad36d5ca2b132e4534b13 Mon Sep 17 00:00:00 2001 From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Date: Wed, 1 Dec 2021 15:56:22 +0900 Subject: [PATCH] feat: add TierIV messages (#4) * Initial commit * release v0.4.0 * Feature/stop reason (#712) * add stop reason msg * add mock of stop resaon publisher * change namespace of stop reason * update stop reason msg * add toRosPoint * implement stop reason publisher of blind stop * implement stop reason publisher of crosswalk * implement stop reason publisher of intersection * implement stop reason publisher of stop line * implement stop reason publisher of trafficlight * implement stop reason publisher of detection area * fix bug * remove unnecessary process * add remained stop factor * clean code * fix bug * not punlish stop reason if array size is 0 * add stop reason to stuck object in intersection * add stop factor of obstacle stop planner * add stop reason of surround_obstacle checker * Apply review Signed-off-by: Kenji Miyake * fix message type * delete unused message from cmake * remove stopReasonStamped * change topic name of stop reasons Co-authored-by: Kenji Miyake * Support error in autoware state (#728) * Support Error in autoware_state_monitor Signed-off-by: Kenji Miyake * Refactor autoware_state_monitor Signed-off-by: Kenji Miyake * Wait after planning completed Signed-off-by: Kenji Miyake * Integrate FailedToArriveGoal and Error into Emergency state Signed-off-by: Kenji Miyake * Publish tl states stamped (#744) * Add TrafficLightStateStamped.msg Signed-off-by: wep21 * Use msg instead of struct Signed-off-by: wep21 * Publish traffic light state Signed-off-by: wep21 * Check if lamp state is empty Signed-off-by: Daisuke Nishimatsu * Apply clang-format Signed-off-by: Daisuke Nishimatsu * Cosmetic change Signed-off-by: Daisuke Nishimatsu * Revert "Publish tl states stamped (#744)" (#771) This reverts commit 35a7e29e987afb29d9348b5f64866a584a65f753. * Fix/publish tl state stamped (#772) * Publish tl states stamped (#744) * Add TrafficLightStateStamped.msg Signed-off-by: wep21 * Use msg instead of struct Signed-off-by: wep21 * Publish traffic light state Signed-off-by: wep21 * Check if lamp state is empty Signed-off-by: Daisuke Nishimatsu * Apply clang-format Signed-off-by: Daisuke Nishimatsu * Cosmetic change Signed-off-by: Daisuke Nishimatsu * Use dynamic pointer cast Signed-off-by: Daisuke Nishimatsu * Feature/add stop reason lane change (#769) * add stop reason of lane change planner * add stop factor of blocked by obstacle * delete typo * add const * delete unnecessary namespace * remove ROS1 packages temporarily Signed-off-by: mitsudome-r * add sample ros2 packages Signed-off-by: mitsudome-r * Add ros2 perception msgs Signed-off-by: wep21 * fix dependency issue in autoware_control_msgs (#22) Signed-off-by: mitsudome-r * Port vehicle_cmd_gate to ROS2 (#3) * Port vehicle_cmd_gate to ROS2 * Sim-time-respecting timer * add autoware_debug_msg (#54) * add autoware_debug_msg Signed-off-by: Takamasa Horibe * rename to *stamped Signed-off-by: Takamasa Horibe * Fix format version (#73) * port motion_velocity_optimizer (#77) * port motion_velocity_optimizer Signed-off-by: Takamasa Horibe * fix for warning Signed-off-by: Takamasa Horibe * fix blockUntilVehiclePositionAvailable() Signed-off-by: Takamasa Horibe * Port of obstacle avoidance planner to ROS2 (#83) * Port to ROS2 Signed-off-by: Servando German Serrano * Removed ros/console include Signed-off-by: Servando German Serrano * Added THROTTLE Signed-off-by: Servando German Serrano * Changed numbers to floats Signed-off-by: Servando German Serrano * Removed from params Signed-off-by: Servando German Serrano * Added new msg Signed-off-by: Servando German Serrano * Use new msg Signed-off-by: Servando German Serrano * Replaced dynamic reconfigure Signed-off-by: Servando German Serrano * Added EnableAvoidance.msg Signed-off-by: Servando German Serrano * Fixed parameter mismatch Signed-off-by: Servando German Serrano * Port behavior_velocity_planner to ROS2 (#80) * Revert "Add geometry2 to repos (#76)" This reverts commit 6d2270476aaafdf1a8098d700d52a508525ea04b. * Automatic parts of the package port * Interesting part * Fix typo in package.xml * Review comments * Child logger names * Document logging duration Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> * Ros2 v0.8.0 awapi and system msgs (#274) * Ros2 v0.8.0 engage (#342) * [autoware_vehicle_msgs]: Add engage message Signed-off-by: wep21 * [as]: Update message Signed-off-by: wep21 * [awapi_awiv_adapter]: Update message Signed-off-by: wep21 * [web_controller]: Update message Signed-off-by: wep21 * [vehicle_cmd_gate]: Update message Signed-off-by: wep21 * [autoware_state_monitor]: Update message Signed-off-by: wep21 * [autoware_control_msgs]: Remove EngageMode message Signed-off-by: wep21 * [simple_planning_simulator]: Update message Signed-off-by: wep21 * Ros2 v0.8.0 lane_change_planner (#322) * Remove lane_change_planner v0.5 Signed-off-by: Takagi, Isamu * Import lane_change_planner v0.8 (ROS1) Signed-off-by: Takagi, Isamu * Modify header files * Remove header disable * Modify msg namespace * Modify time type * Modify pub/sub class * Modify node handle, etc. * Modify ConstPtr * Modify entry point * Modify time and publisher * Modify parameter, timer, and subscription * Modify data manager * Modify route handler * Modify state machine * Modify utility * Fix arguments * Modify states part1 * Modify states part2 * Modify common function * Fix for lint * Fix for lint * Modify comment type * Add copyright * Use duration from_seconds * Use double quotes for non-system headers * Fix include order Signed-off-by: Takagi, Isamu * Replace std_msgs Bool Signed-off-by: Takagi, Isamu * Fix line length Signed-off-by: Takagi, Isamu * Fix latch topic subscription Signed-off-by: Takagi, Isamu * Fix stamp initialization and reference Signed-off-by: Takagi, Isamu * Add super class destructor and fix waitForData Signed-off-by: Takagi, Isamu * Ros2 v0.8.0 remove std msgs awapi (#348) * [autoware_vehicle_msgs] add BatteryStatus msg Signed-off-by: mitsudome-r * [autoware_planning_msgs] add ExpandStopRange and StopSpeedExceeded messages Signed-off-by: mitsudome-r * [autoware_api_msgs] add DoorControlCommand, StopCommand, and VelocityLimit messages Signed-off-by: mitsudome-r * remove std_msgs related to autoware_awaiv_adapter node Signed-off-by: mitsudome-r * apply ament_uncrustify Signed-off-by: mitsudome-r * fix build failure Signed-off-by: mitsudome-r * fix test failures Signed-off-by: mitsudome-r * address review commends Signed-off-by: mitsudome-r * Sync with Ros2 v0.8.0 beta (#393) * add nullptr check when publish concatenate data (#369) * Add warning msg when concat pointcloud is not published (#388) Signed-off-by: Kenji Miyake * add timeout notification stamp msgs (#363) * add timeout notification stamp msgs * fix uncursify * delete timeout notification stamped * Revert "delete timeout notification stamped" This reverts commit 365d29209f6a7f5ec75eb80c5d8c2ef38daeae79. * fix message Co-authored-by: Taichi Higashide Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * modify pose_initialize for foa (#382) * pose_initialize for foa (#1171) * pose_initialize for foa Signed-off-by: Yamato ANDO * rename topic Signed-off-by: Yamato ANDO * fix topic name Signed-off-by: mitsudome-r * Add autoware version node (#394) * Add autoware version node Signed-off-by: Takagi, Isamu * Remove todo Signed-off-by: Takagi, Isamu * Remove unused variable Signed-off-by: Takagi, Isamu * Fix node name Signed-off-by: Takagi, Isamu * fix typo (#427) * Fix typo in common module (#433) * Unify Apache-2.0 license name (#1242) * Porting remote cmd selector (#1286) * Feature/add remote cmd selector (#1179) * Add in/out args of remote_cmd_converter.launch Signed-off-by: Kenji Miyake * Change remote input topic of vehicle_cmd_gate Signed-off-by: Kenji Miyake * Add msgs for remote_cmd_selector Signed-off-by: Kenji Miyake * Add remote_cmd_selector Signed-off-by: Kenji Miyake * Rename remote_cmd_selector to external_cmd_selector Signed-off-by: Kenji Miyake * Remove VehicleCommand support in autoware_joy_controller Signed-off-by: Kenji Miyake * Support external_cmd_source in autoware_joy_controller.launch (#1194) Signed-off-by: Kenji Miyake * Fix porting miss Signed-off-by: Kenji Miyake * fix missing function * modify xml format * fix include guard * add callback group * modify remap name * Revert "modify remap name" This reverts commit 169cc8d28442825b1d61b0439b9892c913304527. * change topic name * use rclcpp_component * Remove autoware_debug_msgs from autoware_joy_controller Signed-off-by: Kenji Miyake * Change default mode of autoware_joy_controller Signed-off-by: Kenji Miyake Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake * Add perception traffic light state output (#1302) * Add perception traffic light state output Signed-off-by: Takagi, Isamu * Modify message type Signed-off-by: Takagi, Isamu * Apply message type to relay Signed-off-by: Takagi, Isamu * Fix msgs (#1379) * Fix msgs Signed-off-by: Kenji Miyake * [autoware_planning_rviz_plugin]: Fix lint Signed-off-by: wep21 Co-authored-by: wep21 * Message refinement (#1381) * Message refinement * Simplify CMakeLists.txt with ament cmake auto * Add test Signed-off-by: wep21 * [autoware_planning_msgs]: Fix dependency Signed-off-by: wep21 * Fix package.xml Signed-off-by: wep21 * Fix package.xml Signed-off-by: Kenji Miyake * Fix ament_cmake_auto Signed-off-by: Kenji Miyake Co-authored-by: Kenji Miyake * Ros2/create/external commands (#1299) * add remote message * add remote commands * fix topic * remove unnecessary topic * remove unused topic * add external cmd instead * ToExternalComd * fix topic in joy con * publish perception and external tl_state for mlops (#1350) (#1375) * publish perception and external tl_state for mlops * fix tl_state time stamp Co-authored-by: satoshi-ota Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota * Add newlines Signed-off-by: Kenji Miyake * Add PR template (#3) * Add PR template Signed-off-by: Kenji Miyake * Update PULL_REQUEST_TEMPLATE.md * Add CI (#4) Signed-off-by: Kenji Miyake * change msg type looking traffic light state (#1455) (#6) * change msg type looking traffic light state * fix msg name * using namespace * change function name * fix typo * add readme * Update awapi/awapi_awiv_adapter/Readme.md fix typo Co-authored-by: Yukihiro Saito Co-authored-by: Yukihiro Saito Co-authored-by: tkimura4 Co-authored-by: Yukihiro Saito * Fix dependency type of rosidl_default_generators (#15) Signed-off-by: Kenji Miyake * Add auto-main-sync CI workflow for develop (#16) Signed-off-by: Kenji Miyake * add autoware_api_msgs (#12) Signed-off-by: mitsudome-r * Feature/add virtual traffic light planner (#9) * Add VIRTUAL_TRAFFIC_LIGHT to StopReason.msg Signed-off-by: Kenji Miyake * Add VirtualTrafficLightState msgs to autoware_system_msgs Signed-off-by: Kenji Miyake * Add InfrastructureCommand msgs to autoware_planning_msgs Signed-off-by: Kenji Miyake * Fix msgs Signed-off-by: Kenji Miyake * Move messages to autoware_v2x_msgs Signed-off-by: Kenji Miyake * Fix dependency type of rosidl_default_generators Signed-off-by: Kenji Miyake * Fix dependency type of rosidl_default_generators (#19) * Change CI docker images to setup-ros-docker (#20) * Change CI docker images to setup-ros-docker Signed-off-by: Kenji Miyake * Replace foxy with galactic Signed-off-by: Kenji Miyake * Add DEBIAN_FRONTEND=noninteractive to rosdep install (#21) Signed-off-by: Kenji Miyake * Update colcon-package-selection in build_and_test_pr.yml (#22) Signed-off-by: Kenji Miyake * add autoware_simulation_msgs (#13) * add autoware_simulation_msgs * update event name * Add autoware api (#29) * add autoware multimedia msgs Signed-off-by: tkhmy * add newline Signed-off-by: tkhmy * change name to autoware_hmi_msgs Signed-off-by: tkhmy * Rename external select message (#8) * Rename external select message Signed-off-by: Takagi, Isamu * Add selector mode to unknown Signed-off-by: Takagi, Isamu * Fix selector mode constant Signed-off-by: Takagi, Isamu * Fix format Signed-off-by: Takagi, Isamu * Move control command messages to external api Signed-off-by: Takagi, Isamu * Add build dependency Signed-off-by: Takagi, Isamu * Fix CI Signed-off-by: Takagi, Isamu Co-authored-by: tkhmy * Fix CI for develop branch (#31) Signed-off-by: Kenji Miyake * add emergency_holding flag to HazardStatus (#25) * add EmergencyState.msg (#32) * Add new workflow `sync-public.yaml` to sync with `AutowareArchitectureProposal_msgs` (#35) * Add new workflow `sync-public.yaml` to sync with `AutowareArchitectureProposal_msgs` * Remove this workflow specific comments * Remove some this workflow specific comments * Rename `oss` to `public` * Replace branch name `main` to more generic description * Add line `fetch-depth: 0` (#36) * Add EmergencyStateStamped.msg (#38) Signed-off-by: Kenji Miyake * Add sync-public-develop.yaml (#42) Signed-off-by: Kenji Miyake * Change proposal sync app ID (#44) Signed-off-by: Kenji Miyake * add MultiArrayDimension/Layout, and update MultiArrayMsgs (#28) * add MultiArrayDimension/Layout, and update MultiArrayMsgs * add kind of license * Feature/vehicle interface improvements (#1361) (#48) * add vehicle msg * add pacmod interface * add eps controller * use each control commands instead of vehicle command * fixed details * fixed speell check * const * fixed brake status * publish cmd when recieving ctrl cmd * fix shift cmd ptr * remove unused function and set proper license * fix names * fix typo for pacmod * remove unnecessary waiting * use flags, limit, multiarray * remove accel brake dependency * fix retrun value * replace eps to steer * cosmetic change for namespace * fix segfo and retval * Use Enum instead of int * remove unused var * add const * rename to calcFFMap * prev time steer calc * add sample csv * add new line Signed-off-by: wep21 Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * remove EmergencyMode and DricingCapability (#33) * develop -> main sync (#53) * Add detected object with feature (#54) * Add detected object with feature Signed-off-by: wep21 * add autoware_auto_msgs Co-authored-by: wep21 * Revert "Add detected object with feature (#54)" (#57) This reverts commit 3fcfe9936361928256ed5ffa7d8a1ef4c978ca09. * Add detected object with feature (#54) (#59) (#4) * Add detected object with feature (#54) (#59) * Add detected object with feature Signed-off-by: wep21 * add autoware_auto_msgs Co-authored-by: wep21 Co-authored-by: wep21 * update build depends Co-authored-by: wep21 * Add message converter (#58) * Add message converter * Move autoware state converter * add VehicleEmergency (#55) * Add two convert method (#64) * add convert method from iv_shift to auto_gear Signed-off-by: kosuke murakami * remove space Signed-off-by: kosuke murakami * add convert method from for turn & hazard signal Signed-off-by: kosuke murakami * fix dependency of iv_auto_msgs converter (#8) Co-authored-by: Takayuki Murooka * move actuation msg (#66) * Revert "move actuation msg (#66)" This reverts commit d8e3ccdcabacab819360cf399442950cc162a648. * merge autoware_localization_srvs to autoware_localization_msgs * rename pose_with_cov to pose_with_covariance * add steering wheel status stamped * fix: remove workflow and PR_TEMPLATE * fix: remove autoware_api_msgs dependency * ci(pre-commit): autofix Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: mitsudome-r Co-authored-by: tkimura4 Co-authored-by: Kenji Miyake Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Yukihiro Saito Co-authored-by: wep21 Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Nikolai Morin Co-authored-by: Takamasa Horibe Co-authored-by: Esteve Fernandez Co-authored-by: Servando <43142004+sgermanserrano@users.noreply.github.com> Co-authored-by: Taichi Higashide Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: Shigeki Kobayashi <32808802+sgk-000@users.noreply.github.com> Co-authored-by: Kazuki Miyahara Co-authored-by: Keisuke Shima Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: tkhmy Co-authored-by: Tatsuya Yamasaki Co-authored-by: Takayuki Murooka Co-authored-by: Kah Hooi Tan <41041286+tkhmy@users.noreply.github.com> Co-authored-by: Kosuke Murakami Co-authored-by: Takayuki Murooka Co-authored-by: tanaka3 Co-authored-by: YamatoAndo Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- messages/LICENSE | 201 +++++++++++++ messages/README.md | 1 + messages/autoware_api_msgs/CMakeLists.txt | 43 +++ .../msg/AwapiAutowareStatus.msg | 12 + .../msg/AwapiVehicleStatus.msg | 16 + .../autoware_api_msgs/msg/CrosswalkStatus.msg | 6 + .../msg/DoorControlCommand.msg | 2 + messages/autoware_api_msgs/msg/DoorStatus.msg | 8 + messages/autoware_api_msgs/msg/Euler.msg | 3 + .../msg/IntersectionStatus.msg | 5 + .../msg/LaneChangeStatus.msg | 4 + .../msg/ObstacleAvoidanceStatus.msg | 3 + .../autoware_api_msgs/msg/StopCommand.msg | 2 + .../autoware_api_msgs/msg/VelocityLimit.msg | 2 + messages/autoware_api_msgs/package.xml | 33 ++ messages/autoware_control_msgs/CMakeLists.txt | 32 ++ .../msg/ControlCommand.msg | 4 + .../msg/ControlCommandStamped.msg | 2 + .../msg/ExternalCommandSelectorMode.msg | 4 + .../autoware_control_msgs/msg/GateMode.msg | 3 + messages/autoware_control_msgs/package.xml | 26 ++ .../srv/ExternalCommandSelect.srv | 4 + messages/autoware_debug_msgs/CMakeLists.txt | 39 +++ .../autoware_debug_msgs/msg/BoolStamped.msg | 2 + .../msg/Float32MultiArrayStamped.msg | 3 + .../msg/Float32Stamped.msg | 2 + .../msg/Float64MultiArrayStamped.msg | 3 + .../msg/Float64Stamped.msg | 2 + .../msg/Int32MultiArrayStamped.msg | 3 + .../autoware_debug_msgs/msg/Int32Stamped.msg | 2 + .../msg/Int64MultiArrayStamped.msg | 3 + .../autoware_debug_msgs/msg/Int64Stamped.msg | 2 + .../msg/MultiArrayDimension.msg | 11 + .../msg/MultiArrayLayout.msg | 34 +++ .../autoware_debug_msgs/msg/StringStamped.msg | 2 + messages/autoware_debug_msgs/package.xml | 26 ++ messages/autoware_hmi_msgs/CMakeLists.txt | 29 ++ messages/autoware_hmi_msgs/package.xml | 30 ++ messages/autoware_hmi_msgs/srv/Announce.srv | 5 + .../CMakeLists.txt | 22 ++ .../autoware_iv_auto_msgs_converter.hpp | 281 ++++++++++++++++++ .../package.xml | 26 ++ .../autoware_lanelet2_msgs/CMakeLists.txt | 28 ++ .../autoware_lanelet2_msgs/msg/MapBin.msg | 13 + messages/autoware_lanelet2_msgs/package.xml | 26 ++ .../autoware_localization_msgs/CMakeLists.txt | 30 ++ .../msg/PoseInitializationRequest.msg | 2 + .../autoware_localization_msgs/package.xml | 27 ++ .../srv/PoseWithCovarianceStamped.srv | 7 + .../autoware_perception_msgs/CMakeLists.txt | 51 ++++ .../DetectedObjectWithFeature.msg | 2 + .../DetectedObjectsWithFeature.msg | 2 + .../msg/object_recognition/DynamicObject.msg | 4 + .../object_recognition/DynamicObjectArray.msg | 2 + .../DynamicObjectWithFeature.msg | 2 + .../DynamicObjectWithFeatureArray.msg | 2 + .../msg/object_recognition/Feature.msg | 2 + .../msg/object_recognition/PredictedPath.msg | 2 + .../msg/object_recognition/Semantic.msg | 10 + .../msg/object_recognition/Shape.msg | 7 + .../msg/object_recognition/State.msg | 7 + .../traffic_light_recognition/LampState.msg | 10 + .../LookingTrafficLightState.msg | 7 + .../TrafficLightRoi.msg | 2 + .../TrafficLightRoiArray.msg | 2 + .../TrafficLightState.msg | 2 + .../TrafficLightStateArray.msg | 2 + .../TrafficLightStateStamped.msg | 2 + .../TrafficLightStateWithJudge.msg | 8 + messages/autoware_perception_msgs/package.xml | 31 ++ .../autoware_planning_msgs/CMakeLists.txt | 56 ++++ .../autoware_planning_msgs/msg/Approval.msg | 2 + .../msg/EnableAvoidance.msg | 2 + .../msg/ExpandStopRange.msg | 2 + .../msg/IsAvoidancePossible.msg | 2 + .../msg/LaneChangeCommand.msg | 2 + .../msg/LaneChangeStatus.msg | 2 + .../msg/LaneSequence.msg | 1 + .../msg/LateralOffset.msg | 2 + messages/autoware_planning_msgs/msg/Path.msg | 3 + .../msg/PathChangeModule.msg | 2 + .../msg/PathChangeModuleArray.msg | 2 + .../msg/PathChangeModuleId.msg | 8 + .../autoware_planning_msgs/msg/PathPoint.msg | 5 + .../msg/PathPointWithLaneId.msg | 2 + .../msg/PathWithLaneId.msg | 3 + messages/autoware_planning_msgs/msg/Route.msg | 3 + .../msg/RouteSection.msg | 3 + .../autoware_planning_msgs/msg/Scenario.msg | 6 + .../autoware_planning_msgs/msg/StopFactor.msg | 3 + .../autoware_planning_msgs/msg/StopReason.msg | 18 ++ .../msg/StopReasonArray.msg | 2 + .../msg/StopSpeedExceeded.msg | 2 + .../autoware_planning_msgs/msg/Trajectory.msg | 2 + .../msg/TrajectoryPoint.msg | 3 + .../msg/VelocityLimit.msg | 7 + .../msg/VelocityLimitClearCommand.msg | 3 + .../msg/VelocityLimitConstraints.msg | 3 + messages/autoware_planning_msgs/package.xml | 29 ++ .../autoware_simulation_msgs/CMakeLists.txt | 30 ++ .../msg/FaultInjectionEvent.msg | 7 + .../msg/SimulationEvents.msg | 2 + messages/autoware_simulation_msgs/package.xml | 27 ++ messages/autoware_system_msgs/CMakeLists.txt | 35 +++ .../msg/AutowareState.msg | 11 + .../msg/AutowareVersion.msg | 8 + .../msg/EmergencyState.msg | 7 + .../msg/EmergencyStateStamped.msg | 2 + .../autoware_system_msgs/msg/HazardStatus.msg | 12 + .../msg/HazardStatusStamped.msg | 2 + .../msg/TimeoutNotification.msg | 2 + messages/autoware_system_msgs/package.xml | 27 ++ messages/autoware_v2x_msgs/CMakeLists.txt | 32 ++ .../msg/InfrastructureCommand.msg | 13 + .../msg/InfrastructureCommandArray.msg | 2 + messages/autoware_v2x_msgs/msg/KeyValue.msg | 2 + .../msg/VirtualTrafficLightState.msg | 5 + .../msg/VirtualTrafficLightStateArray.msg | 2 + messages/autoware_v2x_msgs/package.xml | 27 ++ messages/autoware_vehicle_msgs/CMakeLists.txt | 41 +++ .../msg/ActuationCommand.msg | 3 + .../msg/ActuationCommandStamped.msg | 2 + .../msg/ActuationStatus.msg | 3 + .../msg/ActuationStatusStamped.msg | 2 + .../msg/BatteryStatus.msg | 2 + .../autoware_vehicle_msgs/msg/ControlMode.msg | 7 + messages/autoware_vehicle_msgs/msg/Engage.msg | 2 + .../msg/RawControlCommand.msg | 4 + .../msg/RawVehicleCommand.msg | 4 + messages/autoware_vehicle_msgs/msg/Shift.msg | 8 + .../msg/ShiftStamped.msg | 2 + .../autoware_vehicle_msgs/msg/Steering.msg | 2 + .../msg/SteeringWheelStatusStamped.msg | 2 + .../autoware_vehicle_msgs/msg/TurnSignal.msg | 8 + .../msg/VehicleCommand.msg | 4 + .../msg/VehicleEmergencyStamped.msg | 2 + messages/autoware_vehicle_msgs/package.xml | 28 ++ .../srv/UpdateAccelBrakeMap.srv | 4 + messages/build_depends.repos | 5 + 139 files changed, 1805 insertions(+) create mode 100644 messages/LICENSE create mode 100644 messages/README.md create mode 100644 messages/autoware_api_msgs/CMakeLists.txt create mode 100644 messages/autoware_api_msgs/msg/AwapiAutowareStatus.msg create mode 100644 messages/autoware_api_msgs/msg/AwapiVehicleStatus.msg create mode 100644 messages/autoware_api_msgs/msg/CrosswalkStatus.msg create mode 100644 messages/autoware_api_msgs/msg/DoorControlCommand.msg create mode 100644 messages/autoware_api_msgs/msg/DoorStatus.msg create mode 100644 messages/autoware_api_msgs/msg/Euler.msg create mode 100644 messages/autoware_api_msgs/msg/IntersectionStatus.msg create mode 100644 messages/autoware_api_msgs/msg/LaneChangeStatus.msg create mode 100644 messages/autoware_api_msgs/msg/ObstacleAvoidanceStatus.msg create mode 100644 messages/autoware_api_msgs/msg/StopCommand.msg create mode 100644 messages/autoware_api_msgs/msg/VelocityLimit.msg create mode 100644 messages/autoware_api_msgs/package.xml create mode 100644 messages/autoware_control_msgs/CMakeLists.txt create mode 100644 messages/autoware_control_msgs/msg/ControlCommand.msg create mode 100644 messages/autoware_control_msgs/msg/ControlCommandStamped.msg create mode 100644 messages/autoware_control_msgs/msg/ExternalCommandSelectorMode.msg create mode 100644 messages/autoware_control_msgs/msg/GateMode.msg create mode 100644 messages/autoware_control_msgs/package.xml create mode 100644 messages/autoware_control_msgs/srv/ExternalCommandSelect.srv create mode 100644 messages/autoware_debug_msgs/CMakeLists.txt create mode 100644 messages/autoware_debug_msgs/msg/BoolStamped.msg create mode 100644 messages/autoware_debug_msgs/msg/Float32MultiArrayStamped.msg create mode 100644 messages/autoware_debug_msgs/msg/Float32Stamped.msg create mode 100644 messages/autoware_debug_msgs/msg/Float64MultiArrayStamped.msg create mode 100644 messages/autoware_debug_msgs/msg/Float64Stamped.msg create mode 100644 messages/autoware_debug_msgs/msg/Int32MultiArrayStamped.msg create mode 100644 messages/autoware_debug_msgs/msg/Int32Stamped.msg create mode 100644 messages/autoware_debug_msgs/msg/Int64MultiArrayStamped.msg create mode 100644 messages/autoware_debug_msgs/msg/Int64Stamped.msg create mode 100644 messages/autoware_debug_msgs/msg/MultiArrayDimension.msg create mode 100644 messages/autoware_debug_msgs/msg/MultiArrayLayout.msg create mode 100644 messages/autoware_debug_msgs/msg/StringStamped.msg create mode 100644 messages/autoware_debug_msgs/package.xml create mode 100644 messages/autoware_hmi_msgs/CMakeLists.txt create mode 100644 messages/autoware_hmi_msgs/package.xml create mode 100644 messages/autoware_hmi_msgs/srv/Announce.srv create mode 100644 messages/autoware_iv_auto_msgs_converter/CMakeLists.txt create mode 100644 messages/autoware_iv_auto_msgs_converter/include/autoware_iv_auto_msgs_converter/autoware_iv_auto_msgs_converter.hpp create mode 100644 messages/autoware_iv_auto_msgs_converter/package.xml create mode 100644 messages/autoware_lanelet2_msgs/CMakeLists.txt create mode 100644 messages/autoware_lanelet2_msgs/msg/MapBin.msg create mode 100644 messages/autoware_lanelet2_msgs/package.xml create mode 100644 messages/autoware_localization_msgs/CMakeLists.txt create mode 100644 messages/autoware_localization_msgs/msg/PoseInitializationRequest.msg create mode 100644 messages/autoware_localization_msgs/package.xml create mode 100644 messages/autoware_localization_msgs/srv/PoseWithCovarianceStamped.srv create mode 100644 messages/autoware_perception_msgs/CMakeLists.txt create mode 100644 messages/autoware_perception_msgs/msg/object_recognition/DetectedObjectWithFeature.msg create mode 100644 messages/autoware_perception_msgs/msg/object_recognition/DetectedObjectsWithFeature.msg create mode 100644 messages/autoware_perception_msgs/msg/object_recognition/DynamicObject.msg create mode 100644 messages/autoware_perception_msgs/msg/object_recognition/DynamicObjectArray.msg create mode 100644 messages/autoware_perception_msgs/msg/object_recognition/DynamicObjectWithFeature.msg create mode 100644 messages/autoware_perception_msgs/msg/object_recognition/DynamicObjectWithFeatureArray.msg create mode 100644 messages/autoware_perception_msgs/msg/object_recognition/Feature.msg create mode 100644 messages/autoware_perception_msgs/msg/object_recognition/PredictedPath.msg create mode 100644 messages/autoware_perception_msgs/msg/object_recognition/Semantic.msg create mode 100644 messages/autoware_perception_msgs/msg/object_recognition/Shape.msg create mode 100644 messages/autoware_perception_msgs/msg/object_recognition/State.msg create mode 100644 messages/autoware_perception_msgs/msg/traffic_light_recognition/LampState.msg create mode 100644 messages/autoware_perception_msgs/msg/traffic_light_recognition/LookingTrafficLightState.msg create mode 100644 messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightRoi.msg create mode 100644 messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightRoiArray.msg create mode 100644 messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightState.msg create mode 100644 messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightStateArray.msg create mode 100644 messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightStateStamped.msg create mode 100644 messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightStateWithJudge.msg create mode 100644 messages/autoware_perception_msgs/package.xml create mode 100644 messages/autoware_planning_msgs/CMakeLists.txt create mode 100644 messages/autoware_planning_msgs/msg/Approval.msg create mode 100644 messages/autoware_planning_msgs/msg/EnableAvoidance.msg create mode 100644 messages/autoware_planning_msgs/msg/ExpandStopRange.msg create mode 100644 messages/autoware_planning_msgs/msg/IsAvoidancePossible.msg create mode 100644 messages/autoware_planning_msgs/msg/LaneChangeCommand.msg create mode 100644 messages/autoware_planning_msgs/msg/LaneChangeStatus.msg create mode 100644 messages/autoware_planning_msgs/msg/LaneSequence.msg create mode 100644 messages/autoware_planning_msgs/msg/LateralOffset.msg create mode 100644 messages/autoware_planning_msgs/msg/Path.msg create mode 100644 messages/autoware_planning_msgs/msg/PathChangeModule.msg create mode 100644 messages/autoware_planning_msgs/msg/PathChangeModuleArray.msg create mode 100644 messages/autoware_planning_msgs/msg/PathChangeModuleId.msg create mode 100644 messages/autoware_planning_msgs/msg/PathPoint.msg create mode 100644 messages/autoware_planning_msgs/msg/PathPointWithLaneId.msg create mode 100644 messages/autoware_planning_msgs/msg/PathWithLaneId.msg create mode 100644 messages/autoware_planning_msgs/msg/Route.msg create mode 100644 messages/autoware_planning_msgs/msg/RouteSection.msg create mode 100644 messages/autoware_planning_msgs/msg/Scenario.msg create mode 100644 messages/autoware_planning_msgs/msg/StopFactor.msg create mode 100644 messages/autoware_planning_msgs/msg/StopReason.msg create mode 100644 messages/autoware_planning_msgs/msg/StopReasonArray.msg create mode 100644 messages/autoware_planning_msgs/msg/StopSpeedExceeded.msg create mode 100644 messages/autoware_planning_msgs/msg/Trajectory.msg create mode 100644 messages/autoware_planning_msgs/msg/TrajectoryPoint.msg create mode 100644 messages/autoware_planning_msgs/msg/VelocityLimit.msg create mode 100644 messages/autoware_planning_msgs/msg/VelocityLimitClearCommand.msg create mode 100644 messages/autoware_planning_msgs/msg/VelocityLimitConstraints.msg create mode 100644 messages/autoware_planning_msgs/package.xml create mode 100644 messages/autoware_simulation_msgs/CMakeLists.txt create mode 100644 messages/autoware_simulation_msgs/msg/FaultInjectionEvent.msg create mode 100644 messages/autoware_simulation_msgs/msg/SimulationEvents.msg create mode 100644 messages/autoware_simulation_msgs/package.xml create mode 100644 messages/autoware_system_msgs/CMakeLists.txt create mode 100644 messages/autoware_system_msgs/msg/AutowareState.msg create mode 100644 messages/autoware_system_msgs/msg/AutowareVersion.msg create mode 100644 messages/autoware_system_msgs/msg/EmergencyState.msg create mode 100644 messages/autoware_system_msgs/msg/EmergencyStateStamped.msg create mode 100644 messages/autoware_system_msgs/msg/HazardStatus.msg create mode 100644 messages/autoware_system_msgs/msg/HazardStatusStamped.msg create mode 100644 messages/autoware_system_msgs/msg/TimeoutNotification.msg create mode 100644 messages/autoware_system_msgs/package.xml create mode 100644 messages/autoware_v2x_msgs/CMakeLists.txt create mode 100644 messages/autoware_v2x_msgs/msg/InfrastructureCommand.msg create mode 100644 messages/autoware_v2x_msgs/msg/InfrastructureCommandArray.msg create mode 100644 messages/autoware_v2x_msgs/msg/KeyValue.msg create mode 100644 messages/autoware_v2x_msgs/msg/VirtualTrafficLightState.msg create mode 100644 messages/autoware_v2x_msgs/msg/VirtualTrafficLightStateArray.msg create mode 100644 messages/autoware_v2x_msgs/package.xml create mode 100644 messages/autoware_vehicle_msgs/CMakeLists.txt create mode 100644 messages/autoware_vehicle_msgs/msg/ActuationCommand.msg create mode 100644 messages/autoware_vehicle_msgs/msg/ActuationCommandStamped.msg create mode 100644 messages/autoware_vehicle_msgs/msg/ActuationStatus.msg create mode 100644 messages/autoware_vehicle_msgs/msg/ActuationStatusStamped.msg create mode 100644 messages/autoware_vehicle_msgs/msg/BatteryStatus.msg create mode 100644 messages/autoware_vehicle_msgs/msg/ControlMode.msg create mode 100644 messages/autoware_vehicle_msgs/msg/Engage.msg create mode 100644 messages/autoware_vehicle_msgs/msg/RawControlCommand.msg create mode 100644 messages/autoware_vehicle_msgs/msg/RawVehicleCommand.msg create mode 100644 messages/autoware_vehicle_msgs/msg/Shift.msg create mode 100644 messages/autoware_vehicle_msgs/msg/ShiftStamped.msg create mode 100644 messages/autoware_vehicle_msgs/msg/Steering.msg create mode 100644 messages/autoware_vehicle_msgs/msg/SteeringWheelStatusStamped.msg create mode 100644 messages/autoware_vehicle_msgs/msg/TurnSignal.msg create mode 100644 messages/autoware_vehicle_msgs/msg/VehicleCommand.msg create mode 100644 messages/autoware_vehicle_msgs/msg/VehicleEmergencyStamped.msg create mode 100644 messages/autoware_vehicle_msgs/package.xml create mode 100644 messages/autoware_vehicle_msgs/srv/UpdateAccelBrakeMap.srv create mode 100644 messages/build_depends.repos diff --git a/messages/LICENSE b/messages/LICENSE new file mode 100644 index 0000000000000..261eeb9e9f8b2 --- /dev/null +++ b/messages/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/messages/README.md b/messages/README.md new file mode 100644 index 0000000000000..487f1ddd31a57 --- /dev/null +++ b/messages/README.md @@ -0,0 +1 @@ +# autoware_iv_msgs diff --git a/messages/autoware_api_msgs/CMakeLists.txt b/messages/autoware_api_msgs/CMakeLists.txt new file mode 100644 index 0000000000000..d023ecb1ba6fc --- /dev/null +++ b/messages/autoware_api_msgs/CMakeLists.txt @@ -0,0 +1,43 @@ +cmake_minimum_required(VERSION 3.5) +project(autoware_api_msgs) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + set(CMAKE_CXX_EXTENSIONS OFF) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/AwapiAutowareStatus.msg" + "msg/AwapiVehicleStatus.msg" + "msg/CrosswalkStatus.msg" + "msg/DoorControlCommand.msg" + "msg/DoorStatus.msg" + "msg/Euler.msg" + "msg/IntersectionStatus.msg" + "msg/LaneChangeStatus.msg" + "msg/ObstacleAvoidanceStatus.msg" + "msg/StopCommand.msg" + "msg/VelocityLimit.msg" + DEPENDENCIES + autoware_planning_msgs + autoware_system_msgs + diagnostic_msgs + geographic_msgs + geometry_msgs + std_msgs +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package() diff --git a/messages/autoware_api_msgs/msg/AwapiAutowareStatus.msg b/messages/autoware_api_msgs/msg/AwapiAutowareStatus.msg new file mode 100644 index 0000000000000..fb995bd9f9806 --- /dev/null +++ b/messages/autoware_api_msgs/msg/AwapiAutowareStatus.msg @@ -0,0 +1,12 @@ +std_msgs/Header header +string autoware_state +int32 control_mode +int32 gate_mode +bool emergency_stopped +float32 current_max_velocity +autoware_system_msgs/HazardStatusStamped hazard_status +autoware_planning_msgs/StopReasonArray stop_reason +diagnostic_msgs/DiagnosticStatus[] diagnostics +diagnostic_msgs/DiagnosticStatus[] error_diagnostics +bool autonomous_overridden +bool arrived_goal diff --git a/messages/autoware_api_msgs/msg/AwapiVehicleStatus.msg b/messages/autoware_api_msgs/msg/AwapiVehicleStatus.msg new file mode 100644 index 0000000000000..af2a6360c7707 --- /dev/null +++ b/messages/autoware_api_msgs/msg/AwapiVehicleStatus.msg @@ -0,0 +1,16 @@ +std_msgs/Header header +geometry_msgs/Pose pose +autoware_api_msgs/Euler eulerangle +geographic_msgs/GeoPoint geo_point +float64 velocity +float64 acceleration +float64 steering +float64 steering_velocity +float64 angular_velocity +int32 gear +float32 energy_level +int32 turn_signal +float64 target_velocity +float64 target_acceleration +float64 target_steering +float64 target_steering_velocity diff --git a/messages/autoware_api_msgs/msg/CrosswalkStatus.msg b/messages/autoware_api_msgs/msg/CrosswalkStatus.msg new file mode 100644 index 0000000000000..8776f80fe08fb --- /dev/null +++ b/messages/autoware_api_msgs/msg/CrosswalkStatus.msg @@ -0,0 +1,6 @@ +std_msgs/Header header +int32 status + +int32 STOP = 0 +int32 GO = 1 +int32 SLOWDOWN = 2 diff --git a/messages/autoware_api_msgs/msg/DoorControlCommand.msg b/messages/autoware_api_msgs/msg/DoorControlCommand.msg new file mode 100644 index 0000000000000..e9e6407d486d3 --- /dev/null +++ b/messages/autoware_api_msgs/msg/DoorControlCommand.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +bool open diff --git a/messages/autoware_api_msgs/msg/DoorStatus.msg b/messages/autoware_api_msgs/msg/DoorStatus.msg new file mode 100644 index 0000000000000..07faf2fedf48b --- /dev/null +++ b/messages/autoware_api_msgs/msg/DoorStatus.msg @@ -0,0 +1,8 @@ +int32 status + +int32 UNKNOWN = 0 +int32 DOOR_OPENED = 1 +int32 DOOR_CLOSED = 2 +int32 DOOR_OPENING = 3 +int32 DOOR_CLOSING = 4 +int32 NOT_APPLICABLE = 5 diff --git a/messages/autoware_api_msgs/msg/Euler.msg b/messages/autoware_api_msgs/msg/Euler.msg new file mode 100644 index 0000000000000..c963632f3dafe --- /dev/null +++ b/messages/autoware_api_msgs/msg/Euler.msg @@ -0,0 +1,3 @@ +float64 roll +float64 pitch +float64 yaw diff --git a/messages/autoware_api_msgs/msg/IntersectionStatus.msg b/messages/autoware_api_msgs/msg/IntersectionStatus.msg new file mode 100644 index 0000000000000..b4b8e5297e08b --- /dev/null +++ b/messages/autoware_api_msgs/msg/IntersectionStatus.msg @@ -0,0 +1,5 @@ +std_msgs/Header header +int32 status + +int32 STOP = 0 +int32 GO = 1 diff --git a/messages/autoware_api_msgs/msg/LaneChangeStatus.msg b/messages/autoware_api_msgs/msg/LaneChangeStatus.msg new file mode 100644 index 0000000000000..0d03b5d4ec958 --- /dev/null +++ b/messages/autoware_api_msgs/msg/LaneChangeStatus.msg @@ -0,0 +1,4 @@ +std_msgs/Header header +bool force_lane_change_available +bool lane_change_ready +autoware_planning_msgs/Path candidate_path diff --git a/messages/autoware_api_msgs/msg/ObstacleAvoidanceStatus.msg b/messages/autoware_api_msgs/msg/ObstacleAvoidanceStatus.msg new file mode 100644 index 0000000000000..2856c020888b6 --- /dev/null +++ b/messages/autoware_api_msgs/msg/ObstacleAvoidanceStatus.msg @@ -0,0 +1,3 @@ +std_msgs/Header header +bool obstacle_avoidance_ready +autoware_planning_msgs/Trajectory candidate_path diff --git a/messages/autoware_api_msgs/msg/StopCommand.msg b/messages/autoware_api_msgs/msg/StopCommand.msg new file mode 100644 index 0000000000000..9b5a475ba0a07 --- /dev/null +++ b/messages/autoware_api_msgs/msg/StopCommand.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +bool stop diff --git a/messages/autoware_api_msgs/msg/VelocityLimit.msg b/messages/autoware_api_msgs/msg/VelocityLimit.msg new file mode 100644 index 0000000000000..4dd98674d858b --- /dev/null +++ b/messages/autoware_api_msgs/msg/VelocityLimit.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +float32 max_velocity diff --git a/messages/autoware_api_msgs/package.xml b/messages/autoware_api_msgs/package.xml new file mode 100644 index 0000000000000..ec7d871aa4ed9 --- /dev/null +++ b/messages/autoware_api_msgs/package.xml @@ -0,0 +1,33 @@ + + + + autoware_api_msgs + 0.1.0 + The autoware_api_msgs package + Tomoya Kimura + Apache License 2.0 + + Tomoya Kimura + + ament_cmake_auto + + rosidl_default_generators + + autoware_planning_msgs + autoware_system_msgs + diagnostic_msgs + geographic_msgs + geometry_msgs + std_msgs + + rosidl_default_runtime + + ament_lint_auto + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + diff --git a/messages/autoware_control_msgs/CMakeLists.txt b/messages/autoware_control_msgs/CMakeLists.txt new file mode 100644 index 0000000000000..0a5fa7717d77f --- /dev/null +++ b/messages/autoware_control_msgs/CMakeLists.txt @@ -0,0 +1,32 @@ +cmake_minimum_required(VERSION 3.5) +project(autoware_control_msgs) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + set(CMAKE_CXX_EXTENSIONS OFF) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/GateMode.msg" + "msg/ControlCommand.msg" + "msg/ControlCommandStamped.msg" + "msg/ExternalCommandSelectorMode.msg" + "srv/ExternalCommandSelect.srv" + DEPENDENCIES + std_msgs +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package() diff --git a/messages/autoware_control_msgs/msg/ControlCommand.msg b/messages/autoware_control_msgs/msg/ControlCommand.msg new file mode 100644 index 0000000000000..ffa7b8152c914 --- /dev/null +++ b/messages/autoware_control_msgs/msg/ControlCommand.msg @@ -0,0 +1,4 @@ +float64 steering_angle +float64 steering_angle_velocity +float64 velocity +float64 acceleration diff --git a/messages/autoware_control_msgs/msg/ControlCommandStamped.msg b/messages/autoware_control_msgs/msg/ControlCommandStamped.msg new file mode 100644 index 0000000000000..ee5f7dadb1ace --- /dev/null +++ b/messages/autoware_control_msgs/msg/ControlCommandStamped.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +autoware_control_msgs/ControlCommand control diff --git a/messages/autoware_control_msgs/msg/ExternalCommandSelectorMode.msg b/messages/autoware_control_msgs/msg/ExternalCommandSelectorMode.msg new file mode 100644 index 0000000000000..8ae85ca271ad6 --- /dev/null +++ b/messages/autoware_control_msgs/msg/ExternalCommandSelectorMode.msg @@ -0,0 +1,4 @@ +uint8 NONE=0 +uint8 LOCAL=101 # TODO(Takagi, Isamu): temporary value to check data specified by magic number for migration +uint8 REMOTE=102 # TODO(Takagi, Isamu): temporary value to check data specified by magic number for migration +uint8 data diff --git a/messages/autoware_control_msgs/msg/GateMode.msg b/messages/autoware_control_msgs/msg/GateMode.msg new file mode 100644 index 0000000000000..d3f8dbeae2a77 --- /dev/null +++ b/messages/autoware_control_msgs/msg/GateMode.msg @@ -0,0 +1,3 @@ +uint8 AUTO = 0 +uint8 EXTERNAL = 1 +uint8 data diff --git a/messages/autoware_control_msgs/package.xml b/messages/autoware_control_msgs/package.xml new file mode 100644 index 0000000000000..1dff4576d97bb --- /dev/null +++ b/messages/autoware_control_msgs/package.xml @@ -0,0 +1,26 @@ + + + + autoware_control_msgs + 0.1.0 + The autoware_control_msgs package + Takamasa Horibe + Apache License 2.0 + + ament_cmake_auto + + rosidl_default_generators + + std_msgs + + rosidl_default_runtime + + ament_lint_auto + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + diff --git a/messages/autoware_control_msgs/srv/ExternalCommandSelect.srv b/messages/autoware_control_msgs/srv/ExternalCommandSelect.srv new file mode 100644 index 0000000000000..f90d88dd647e9 --- /dev/null +++ b/messages/autoware_control_msgs/srv/ExternalCommandSelect.srv @@ -0,0 +1,4 @@ +autoware_control_msgs/ExternalCommandSelectorMode mode +--- +bool success # indicate successful run of triggered service +string message # informational, e.g. for error messages diff --git a/messages/autoware_debug_msgs/CMakeLists.txt b/messages/autoware_debug_msgs/CMakeLists.txt new file mode 100644 index 0000000000000..9a33320506550 --- /dev/null +++ b/messages/autoware_debug_msgs/CMakeLists.txt @@ -0,0 +1,39 @@ +cmake_minimum_required(VERSION 3.5) +project(autoware_debug_msgs) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + set(CMAKE_CXX_EXTENSIONS OFF) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/MultiArrayDimension.msg" + "msg/MultiArrayLayout.msg" + "msg/BoolStamped.msg" + "msg/Float32Stamped.msg" + "msg/Float32MultiArrayStamped.msg" + "msg/Float64Stamped.msg" + "msg/Float64MultiArrayStamped.msg" + "msg/Int32Stamped.msg" + "msg/Int32MultiArrayStamped.msg" + "msg/Int64Stamped.msg" + "msg/Int64MultiArrayStamped.msg" + "msg/StringStamped.msg" + DEPENDENCIES + builtin_interfaces +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package() diff --git a/messages/autoware_debug_msgs/msg/BoolStamped.msg b/messages/autoware_debug_msgs/msg/BoolStamped.msg new file mode 100644 index 0000000000000..edb7a413edd99 --- /dev/null +++ b/messages/autoware_debug_msgs/msg/BoolStamped.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +bool data diff --git a/messages/autoware_debug_msgs/msg/Float32MultiArrayStamped.msg b/messages/autoware_debug_msgs/msg/Float32MultiArrayStamped.msg new file mode 100644 index 0000000000000..8efeba9981725 --- /dev/null +++ b/messages/autoware_debug_msgs/msg/Float32MultiArrayStamped.msg @@ -0,0 +1,3 @@ +builtin_interfaces/Time stamp +autoware_debug_msgs/MultiArrayLayout layout +float32[] data diff --git a/messages/autoware_debug_msgs/msg/Float32Stamped.msg b/messages/autoware_debug_msgs/msg/Float32Stamped.msg new file mode 100644 index 0000000000000..8d02ab5282df9 --- /dev/null +++ b/messages/autoware_debug_msgs/msg/Float32Stamped.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +float32 data diff --git a/messages/autoware_debug_msgs/msg/Float64MultiArrayStamped.msg b/messages/autoware_debug_msgs/msg/Float64MultiArrayStamped.msg new file mode 100644 index 0000000000000..994c41cd9012c --- /dev/null +++ b/messages/autoware_debug_msgs/msg/Float64MultiArrayStamped.msg @@ -0,0 +1,3 @@ +builtin_interfaces/Time stamp +autoware_debug_msgs/MultiArrayLayout layout +float64[] data diff --git a/messages/autoware_debug_msgs/msg/Float64Stamped.msg b/messages/autoware_debug_msgs/msg/Float64Stamped.msg new file mode 100644 index 0000000000000..97a9447eed094 --- /dev/null +++ b/messages/autoware_debug_msgs/msg/Float64Stamped.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +float64 data diff --git a/messages/autoware_debug_msgs/msg/Int32MultiArrayStamped.msg b/messages/autoware_debug_msgs/msg/Int32MultiArrayStamped.msg new file mode 100644 index 0000000000000..67830d0adeba9 --- /dev/null +++ b/messages/autoware_debug_msgs/msg/Int32MultiArrayStamped.msg @@ -0,0 +1,3 @@ +builtin_interfaces/Time stamp +autoware_debug_msgs/MultiArrayLayout layout +int32[] data diff --git a/messages/autoware_debug_msgs/msg/Int32Stamped.msg b/messages/autoware_debug_msgs/msg/Int32Stamped.msg new file mode 100644 index 0000000000000..0d548772eea06 --- /dev/null +++ b/messages/autoware_debug_msgs/msg/Int32Stamped.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +int32 data diff --git a/messages/autoware_debug_msgs/msg/Int64MultiArrayStamped.msg b/messages/autoware_debug_msgs/msg/Int64MultiArrayStamped.msg new file mode 100644 index 0000000000000..0ee2d45197777 --- /dev/null +++ b/messages/autoware_debug_msgs/msg/Int64MultiArrayStamped.msg @@ -0,0 +1,3 @@ +builtin_interfaces/Time stamp +autoware_debug_msgs/MultiArrayLayout layout +int64[] data diff --git a/messages/autoware_debug_msgs/msg/Int64Stamped.msg b/messages/autoware_debug_msgs/msg/Int64Stamped.msg new file mode 100644 index 0000000000000..917edfff7b1bf --- /dev/null +++ b/messages/autoware_debug_msgs/msg/Int64Stamped.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +int64 data diff --git a/messages/autoware_debug_msgs/msg/MultiArrayDimension.msg b/messages/autoware_debug_msgs/msg/MultiArrayDimension.msg new file mode 100644 index 0000000000000..05bb4d867a21a --- /dev/null +++ b/messages/autoware_debug_msgs/msg/MultiArrayDimension.msg @@ -0,0 +1,11 @@ +# This is from ros2 common_interfaces. +# https://github.com/ros2/common_interfaces/blob/master/std_msgs/msg/MultiArrayDimension.msg + +# This was originally provided as an example message. +# It is deprecated as of Foxy +# It is recommended to create your own semantically meaningful message. +# However if you would like to continue using this please use the equivalent in example_msgs. + +string label # label of given dimension +uint32 size # size of given dimension (in type units) +uint32 stride # stride of given dimension diff --git a/messages/autoware_debug_msgs/msg/MultiArrayLayout.msg b/messages/autoware_debug_msgs/msg/MultiArrayLayout.msg new file mode 100644 index 0000000000000..e96cb23d2b759 --- /dev/null +++ b/messages/autoware_debug_msgs/msg/MultiArrayLayout.msg @@ -0,0 +1,34 @@ +# This is from ros2 common_interfaces. +# https://github.com/ros2/common_interfaces/blob/master/std_msgs/msg/MultiArrayLayout.msg + +# This was originally provided as an example message. +# It is deprecated as of Foxy +# It is recommended to create your own semantically meaningful message. +# However if you would like to continue using this please use the equivalent in example_msgs. + +# The multiarray declares a generic multi-dimensional array of a +# particular data type. Dimensions are ordered from outer most +# to inner most. +# +# Accessors should ALWAYS be written in terms of dimension stride +# and specified outer-most dimension first. +# +# multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k] +# +# A standard, 3-channel 640x480 image with interleaved color channels +# would be specified as: +# +# dim[0].label = "height" +# dim[0].size = 480 +# dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image) +# dim[1].label = "width" +# dim[1].size = 640 +# dim[1].stride = 3*640 = 1920 +# dim[2].label = "channel" +# dim[2].size = 3 +# dim[2].stride = 3 +# +# multiarray(i,j,k) refers to the ith row, jth column, and kth channel. + +autoware_debug_msgs/MultiArrayDimension[] dim # Array of dimension properties +uint32 data_offset # padding bytes at front of data diff --git a/messages/autoware_debug_msgs/msg/StringStamped.msg b/messages/autoware_debug_msgs/msg/StringStamped.msg new file mode 100644 index 0000000000000..a48c85b2cb079 --- /dev/null +++ b/messages/autoware_debug_msgs/msg/StringStamped.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +string data diff --git a/messages/autoware_debug_msgs/package.xml b/messages/autoware_debug_msgs/package.xml new file mode 100644 index 0000000000000..749cf4b791104 --- /dev/null +++ b/messages/autoware_debug_msgs/package.xml @@ -0,0 +1,26 @@ + + + + autoware_debug_msgs + 0.1.0 + The autoware_debug_msgs package + Takamasa Horibe + Apache License 2.0 + + ament_cmake_auto + + rosidl_default_generators + + builtin_interfaces + + rosidl_default_runtime + + ament_lint_auto + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + diff --git a/messages/autoware_hmi_msgs/CMakeLists.txt b/messages/autoware_hmi_msgs/CMakeLists.txt new file mode 100644 index 0000000000000..ee5a7262f62bb --- /dev/null +++ b/messages/autoware_hmi_msgs/CMakeLists.txt @@ -0,0 +1,29 @@ +cmake_minimum_required(VERSION 3.5) +project(autoware_hmi_msgs) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + set(CMAKE_CXX_EXTENSIONS OFF) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +rosidl_generate_interfaces(${PROJECT_NAME} + srv/Announce.srv + DEPENDENCIES + builtin_interfaces + autoware_external_api_msgs +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package() diff --git a/messages/autoware_hmi_msgs/package.xml b/messages/autoware_hmi_msgs/package.xml new file mode 100644 index 0000000000000..9200dd0c1a30f --- /dev/null +++ b/messages/autoware_hmi_msgs/package.xml @@ -0,0 +1,30 @@ + + + + + autoware_hmi_msgs + 0.1.0 + The autoware_hmi_msgs package + Kah Hooi Tan + Apache License 2.0 + + ament_cmake_auto + + builtin_interfaces + rosidl_default_generators + + builtin_interfaces + rosidl_default_runtime + + autoware_external_api_msgs + + ament_lint_auto + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + + diff --git a/messages/autoware_hmi_msgs/srv/Announce.srv b/messages/autoware_hmi_msgs/srv/Announce.srv new file mode 100644 index 0000000000000..ef57272191271 --- /dev/null +++ b/messages/autoware_hmi_msgs/srv/Announce.srv @@ -0,0 +1,5 @@ +uint32 ENGAGE=1 +uint32 RESTART_ENGAGE=2 +uint32 kind +--- +autoware_external_api_msgs/ResponseStatus status diff --git a/messages/autoware_iv_auto_msgs_converter/CMakeLists.txt b/messages/autoware_iv_auto_msgs_converter/CMakeLists.txt new file mode 100644 index 0000000000000..e689dc13de47f --- /dev/null +++ b/messages/autoware_iv_auto_msgs_converter/CMakeLists.txt @@ -0,0 +1,22 @@ +cmake_minimum_required(VERSION 3.5) +project(autoware_iv_auto_msgs_converter) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + set(CMAKE_CXX_EXTENSIONS OFF) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic -Werror) +endif() + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package() diff --git a/messages/autoware_iv_auto_msgs_converter/include/autoware_iv_auto_msgs_converter/autoware_iv_auto_msgs_converter.hpp b/messages/autoware_iv_auto_msgs_converter/include/autoware_iv_auto_msgs_converter/autoware_iv_auto_msgs_converter.hpp new file mode 100644 index 0000000000000..86279b853fceb --- /dev/null +++ b/messages/autoware_iv_auto_msgs_converter/include/autoware_iv_auto_msgs_converter/autoware_iv_auto_msgs_converter.hpp @@ -0,0 +1,281 @@ +// Copyright 2021 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE_IV_AUTO_MSGS_CONVERTER__AUTOWARE_IV_AUTO_MSGS_CONVERTER_HPP_ +#define AUTOWARE_IV_AUTO_MSGS_CONVERTER__AUTOWARE_IV_AUTO_MSGS_CONVERTER_HPP_ + +#include "autoware_auto_planning_msgs/msg/path.hpp" +#include "autoware_auto_planning_msgs/msg/trajectory.hpp" +#include "autoware_auto_system_msgs/msg/autoware_state.hpp" +#include "autoware_auto_system_msgs/msg/hazard_status_stamped.hpp" +#include "autoware_auto_vehicle_msgs/msg/control_mode_report.hpp" +#include "autoware_auto_vehicle_msgs/msg/gear_command.hpp" +#include "autoware_auto_vehicle_msgs/msg/gear_report.hpp" +#include "autoware_auto_vehicle_msgs/msg/hazard_lights_command.hpp" +#include "autoware_auto_vehicle_msgs/msg/hazard_lights_report.hpp" +#include "autoware_auto_vehicle_msgs/msg/steering_report.hpp" +#include "autoware_auto_vehicle_msgs/msg/turn_indicators_command.hpp" +#include "autoware_auto_vehicle_msgs/msg/turn_indicators_report.hpp" +#include "autoware_external_api_msgs/msg/gear_shift_stamped.hpp" +#include "autoware_external_api_msgs/msg/turn_signal_stamped.hpp" +#include "autoware_planning_msgs/msg/path.hpp" +#include "autoware_planning_msgs/msg/trajectory.hpp" +#include "autoware_system_msgs/msg/autoware_state.hpp" +#include "autoware_system_msgs/msg/hazard_status_stamped.hpp" +#include "autoware_vehicle_msgs/msg/control_mode.hpp" +#include "autoware_vehicle_msgs/msg/shift_stamped.hpp" +#include "autoware_vehicle_msgs/msg/steering.hpp" +#include "autoware_vehicle_msgs/msg/turn_signal.hpp" + +namespace autoware_iv_auto_msgs_converter +{ +struct LightSignal +{ + autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand turn_signal; + autoware_auto_vehicle_msgs::msg::HazardLightsCommand hazard_signal; +}; + +inline auto convert(const autoware_auto_system_msgs::msg::AutowareState & state) +{ + autoware_system_msgs::msg::AutowareState iv_state; + switch (state.state) { + case autoware_auto_system_msgs::msg::AutowareState::INITIALIZING: + iv_state.state = autoware_system_msgs::msg::AutowareState::INITIALIZING_VEHICLE; + break; + case autoware_auto_system_msgs::msg::AutowareState::WAITING_FOR_ROUTE: + iv_state.state = autoware_system_msgs::msg::AutowareState::WAITING_FOR_ROUTE; + break; + case autoware_auto_system_msgs::msg::AutowareState::PLANNING: + iv_state.state = autoware_system_msgs::msg::AutowareState::PLANNING; + break; + case autoware_auto_system_msgs::msg::AutowareState::WAITING_FOR_ENGAGE: + iv_state.state = autoware_system_msgs::msg::AutowareState::WAITING_FOR_ENGAGE; + break; + case autoware_auto_system_msgs::msg::AutowareState::DRIVING: + iv_state.state = autoware_system_msgs::msg::AutowareState::DRIVING; + break; + case autoware_auto_system_msgs::msg::AutowareState::ARRIVED_GOAL: + iv_state.state = autoware_system_msgs::msg::AutowareState::ARRIVAL_GOAL; + break; + case autoware_auto_system_msgs::msg::AutowareState::FINALIZING: + iv_state.state = autoware_system_msgs::msg::AutowareState::FINALIZING; + break; + } + return iv_state; +} + +inline auto convert(const autoware_auto_system_msgs::msg::HazardStatusStamped & status) +{ + autoware_system_msgs::msg::HazardStatusStamped iv_status; + iv_status.header.stamp = status.stamp; + iv_status.status.level = status.status.level; + iv_status.status.emergency = status.status.emergency; + iv_status.status.emergency_holding = status.status.emergency_holding; + iv_status.status.diagnostics_nf = status.status.diag_no_fault; + iv_status.status.diagnostics_sf = status.status.diag_safe_fault; + iv_status.status.diagnostics_lf = status.status.diag_latent_fault; + iv_status.status.diagnostics_spf = status.status.diag_single_point_fault; + return iv_status; +} + +inline auto convert(const autoware_auto_planning_msgs::msg::Path & path) +{ + autoware_planning_msgs::msg::Path iv_path; + iv_path.header = path.header; + iv_path.drivable_area = path.drivable_area; + iv_path.points.reserve(path.points.size()); + for (const auto point : path.points) { + autoware_planning_msgs::msg::PathPoint iv_point; + iv_point.pose = point.pose; + iv_point.twist.linear.x = point.longitudinal_velocity_mps; + iv_point.twist.linear.y = point.lateral_velocity_mps; + iv_point.twist.angular.z = point.heading_rate_rps; + iv_point.type = 0; // not used + iv_path.points.push_back(iv_point); + } + return iv_path; +} + +inline auto convert(const autoware_auto_planning_msgs::msg::Trajectory & traj) +{ + autoware_planning_msgs::msg::Trajectory iv_traj; + iv_traj.header = traj.header; + iv_traj.points.reserve(traj.points.size()); + for (const auto point : traj.points) { + autoware_planning_msgs::msg::TrajectoryPoint iv_point; + iv_point.pose = point.pose; + iv_point.accel.linear.x = point.acceleration_mps2; + iv_point.twist.linear.x = point.longitudinal_velocity_mps; + iv_point.twist.linear.y = point.lateral_velocity_mps; + iv_point.twist.angular.z = point.heading_rate_rps; + iv_traj.points.push_back(iv_point); + } + return iv_traj; +} + +inline auto convert(const autoware_auto_vehicle_msgs::msg::ControlModeReport & mode) +{ + autoware_vehicle_msgs::msg::ControlMode iv_mode; + iv_mode.header.stamp = mode.stamp; + switch (mode.mode) { + case autoware_auto_vehicle_msgs::msg::ControlModeReport::MANUAL: + iv_mode.data = autoware_vehicle_msgs::msg::ControlMode::MANUAL; + break; + case autoware_auto_vehicle_msgs::msg::ControlModeReport::AUTONOMOUS: + iv_mode.data = autoware_vehicle_msgs::msg::ControlMode::AUTO; + break; + default: + iv_mode.data = autoware_vehicle_msgs::msg::ControlMode::MANUAL; + break; + } + return iv_mode; +} + +inline auto convert(const autoware_auto_vehicle_msgs::msg::GearReport & gear) +{ + autoware_vehicle_msgs::msg::ShiftStamped iv_shift; + iv_shift.header.stamp = gear.stamp; + switch (gear.report) { + case autoware_auto_vehicle_msgs::msg::GearReport::PARK: + iv_shift.shift.data = autoware_vehicle_msgs::msg::Shift::PARKING; + break; + case autoware_auto_vehicle_msgs::msg::GearReport::REVERSE: + case autoware_auto_vehicle_msgs::msg::GearReport::REVERSE_2: + iv_shift.shift.data = autoware_vehicle_msgs::msg::Shift::REVERSE; + break; + case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE: + case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_2: + case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_3: + case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_4: + case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_5: + case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_6: + case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_7: + case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_8: + case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_9: + case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_10: + case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_11: + case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_12: + case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_13: + case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_14: + case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_15: + case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_16: + case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_17: + case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_18: + iv_shift.shift.data = autoware_vehicle_msgs::msg::Shift::DRIVE; + break; + case autoware_auto_vehicle_msgs::msg::GearReport::LOW: + case autoware_auto_vehicle_msgs::msg::GearReport::LOW_2: + iv_shift.shift.data = autoware_vehicle_msgs::msg::Shift::LOW; + break; + default: + iv_shift.shift.data = autoware_vehicle_msgs::msg::Shift::NONE; + break; + } + return iv_shift; +} + +inline auto convert(const autoware_external_api_msgs::msg::GearShiftStamped & shift) +{ + autoware_auto_vehicle_msgs::msg::GearCommand auto_gear; + auto_gear.stamp = shift.stamp; + switch (shift.gear_shift.data) { + case autoware_external_api_msgs::msg::GearShift::PARKING: + auto_gear.command = autoware_auto_vehicle_msgs::msg::GearCommand::PARK; + break; + case autoware_external_api_msgs::msg::GearShift::REVERSE: + auto_gear.command = autoware_auto_vehicle_msgs::msg::GearCommand::REVERSE; + break; + case autoware_external_api_msgs::msg::GearShift::DRIVE: + auto_gear.command = autoware_auto_vehicle_msgs::msg::GearCommand::DRIVE; + break; + case autoware_external_api_msgs::msg::GearShift::LOW: + auto_gear.command = autoware_auto_vehicle_msgs::msg::GearCommand::LOW; + break; + default: + constexpr int default_val = 0; + auto_gear.command = default_val; + break; + } + return auto_gear; +} + +inline auto convert( + const autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport & turn_indicators, + const autoware_auto_vehicle_msgs::msg::HazardLightsReport & hazard_lights) +{ + autoware_vehicle_msgs::msg::TurnSignal iv_turn_signal; + + if (hazard_lights.report == autoware_auto_vehicle_msgs::msg::HazardLightsReport::ENABLE) { + iv_turn_signal.header.stamp = hazard_lights.stamp; + iv_turn_signal.data = autoware_vehicle_msgs::msg::TurnSignal::HAZARD; + return iv_turn_signal; + } + + iv_turn_signal.header.stamp = turn_indicators.stamp; + switch (turn_indicators.report) { + case autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::ENABLE_LEFT: + iv_turn_signal.data = autoware_vehicle_msgs::msg::TurnSignal::LEFT; + break; + case autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::ENABLE_RIGHT: + iv_turn_signal.data = autoware_vehicle_msgs::msg::TurnSignal::RIGHT; + break; + default: + iv_turn_signal.data = autoware_vehicle_msgs::msg::TurnSignal::NONE; + break; + } + return iv_turn_signal; +} + +inline auto convert(const autoware_external_api_msgs::msg::TurnSignalStamped & in_signal) +{ + autoware_auto_vehicle_msgs::msg::HazardLightsCommand hazard; + hazard.stamp = in_signal.stamp; + autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand turn; + turn.stamp = in_signal.stamp; + + switch (in_signal.turn_signal.data) { + case autoware_vehicle_msgs::msg::TurnSignal::HAZARD: + hazard.command = autoware_auto_vehicle_msgs::msg::HazardLightsCommand::ENABLE; + turn.command = autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand::DISABLE; + break; + case autoware_vehicle_msgs::msg::TurnSignal::LEFT: + hazard.command = autoware_auto_vehicle_msgs::msg::HazardLightsCommand::DISABLE; + turn.command = autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand::ENABLE_LEFT; + break; + case autoware_vehicle_msgs::msg::TurnSignal::RIGHT: + hazard.command = autoware_auto_vehicle_msgs::msg::HazardLightsCommand::DISABLE; + turn.command = autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand::ENABLE_RIGHT; + break; + default: + hazard.command = autoware_auto_vehicle_msgs::msg::HazardLightsCommand::DISABLE; + turn.command = autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand::DISABLE; + } + + LightSignal light_signal; + light_signal.turn_signal = turn; + light_signal.hazard_signal = hazard; + return light_signal; +} + +inline auto convert(const autoware_auto_vehicle_msgs::msg::SteeringReport & steering) +{ + autoware_vehicle_msgs::msg::Steering iv_steering; + iv_steering.header.stamp = steering.stamp; + iv_steering.data = steering.steering_tire_angle; + return iv_steering; +} + +} // namespace autoware_iv_auto_msgs_converter + +#endif // AUTOWARE_IV_AUTO_MSGS_CONVERTER__AUTOWARE_IV_AUTO_MSGS_CONVERTER_HPP_ diff --git a/messages/autoware_iv_auto_msgs_converter/package.xml b/messages/autoware_iv_auto_msgs_converter/package.xml new file mode 100644 index 0000000000000..80ef7d1a33be6 --- /dev/null +++ b/messages/autoware_iv_auto_msgs_converter/package.xml @@ -0,0 +1,26 @@ + + + + + autoware_iv_auto_msgs_converter + 0.0.0 + The autoware_iv_auto_msgs_converter package + Takagi, Isamu + Apache License 2.0 + + ament_cmake_auto + + autoware_auto_planning_msgs + autoware_auto_system_msgs + autoware_auto_vehicle_msgs + autoware_planning_msgs + autoware_system_msgs + autoware_vehicle_msgs + + ament_lint_auto + + + ament_cmake + + + diff --git a/messages/autoware_lanelet2_msgs/CMakeLists.txt b/messages/autoware_lanelet2_msgs/CMakeLists.txt new file mode 100644 index 0000000000000..d75e784290b90 --- /dev/null +++ b/messages/autoware_lanelet2_msgs/CMakeLists.txt @@ -0,0 +1,28 @@ +cmake_minimum_required(VERSION 3.5) +project(autoware_lanelet2_msgs) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + set(CMAKE_CXX_EXTENSIONS OFF) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/MapBin.msg" + DEPENDENCIES + std_msgs +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package() diff --git a/messages/autoware_lanelet2_msgs/msg/MapBin.msg b/messages/autoware_lanelet2_msgs/msg/MapBin.msg new file mode 100644 index 0000000000000..3640465e29328 --- /dev/null +++ b/messages/autoware_lanelet2_msgs/msg/MapBin.msg @@ -0,0 +1,13 @@ +# This contains the lanelet map in binary format. + +# Timestamp and frame_id of the map +std_msgs/Header header + +# version of map format. keep this as empty string if unnecessary +string format_version + +# version of map version. keep this as empty string if unnecessary +string map_version + +# binary data of lanelet2 map. This is meant to be filled using toBinMsg() in lanelet2_extension library +int8[] data diff --git a/messages/autoware_lanelet2_msgs/package.xml b/messages/autoware_lanelet2_msgs/package.xml new file mode 100644 index 0000000000000..5978e2668cf5d --- /dev/null +++ b/messages/autoware_lanelet2_msgs/package.xml @@ -0,0 +1,26 @@ + + + + autoware_lanelet2_msgs + 0.1.0 + The autoware_lanelet2_msgs package. Contains messages for lanelet2 maps + mitsudome-r + Apache License 2.0 + + ament_cmake_auto + + rosidl_default_generators + + std_msgs + + rosidl_default_runtime + + ament_lint_auto + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + diff --git a/messages/autoware_localization_msgs/CMakeLists.txt b/messages/autoware_localization_msgs/CMakeLists.txt new file mode 100644 index 0000000000000..158ee10d459e3 --- /dev/null +++ b/messages/autoware_localization_msgs/CMakeLists.txt @@ -0,0 +1,30 @@ +cmake_minimum_required(VERSION 3.5) +project(autoware_localization_msgs) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + set(CMAKE_CXX_EXTENSIONS OFF) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/PoseInitializationRequest.msg" + "srv/PoseWithCovarianceStamped.srv" + DEPENDENCIES + builtin_interfaces + geometry_msgs +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package() diff --git a/messages/autoware_localization_msgs/msg/PoseInitializationRequest.msg b/messages/autoware_localization_msgs/msg/PoseInitializationRequest.msg new file mode 100644 index 0000000000000..edb7a413edd99 --- /dev/null +++ b/messages/autoware_localization_msgs/msg/PoseInitializationRequest.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +bool data diff --git a/messages/autoware_localization_msgs/package.xml b/messages/autoware_localization_msgs/package.xml new file mode 100644 index 0000000000000..4df422ceff81e --- /dev/null +++ b/messages/autoware_localization_msgs/package.xml @@ -0,0 +1,27 @@ + + + + autoware_localization_msgs + 0.1.0 + The autoware_localization_msgs package + Ryohsuke Mitsudome + Apache License 2.0 + + ament_cmake_auto + + rosidl_default_generators + + builtin_interfaces + geometry_msgs + + rosidl_default_runtime + + ament_lint_auto + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + diff --git a/messages/autoware_localization_msgs/srv/PoseWithCovarianceStamped.srv b/messages/autoware_localization_msgs/srv/PoseWithCovarianceStamped.srv new file mode 100644 index 0000000000000..924c16db51601 --- /dev/null +++ b/messages/autoware_localization_msgs/srv/PoseWithCovarianceStamped.srv @@ -0,0 +1,7 @@ +# A sequence number is included to do primitive error checking +uint32 seq +geometry_msgs/PoseWithCovarianceStamped pose_with_covariance +--- +bool success +uint32 seq +geometry_msgs/PoseWithCovarianceStamped pose_with_covariance diff --git a/messages/autoware_perception_msgs/CMakeLists.txt b/messages/autoware_perception_msgs/CMakeLists.txt new file mode 100644 index 0000000000000..a7409f1cf2418 --- /dev/null +++ b/messages/autoware_perception_msgs/CMakeLists.txt @@ -0,0 +1,51 @@ +cmake_minimum_required(VERSION 3.5) +project(autoware_perception_msgs) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + set(CMAKE_CXX_EXTENSIONS OFF) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/object_recognition/DetectedObjectWithFeature.msg" + "msg/object_recognition/DetectedObjectsWithFeature.msg" + "msg/object_recognition/DynamicObject.msg" + "msg/object_recognition/DynamicObjectArray.msg" + "msg/object_recognition/DynamicObjectWithFeature.msg" + "msg/object_recognition/DynamicObjectWithFeatureArray.msg" + "msg/object_recognition/Feature.msg" + "msg/object_recognition/PredictedPath.msg" + "msg/object_recognition/Semantic.msg" + "msg/object_recognition/Shape.msg" + "msg/object_recognition/State.msg" + "msg/traffic_light_recognition/LampState.msg" + "msg/traffic_light_recognition/LookingTrafficLightState.msg" + "msg/traffic_light_recognition/TrafficLightStateWithJudge.msg" + "msg/traffic_light_recognition/TrafficLightRoi.msg" + "msg/traffic_light_recognition/TrafficLightRoiArray.msg" + "msg/traffic_light_recognition/TrafficLightState.msg" + "msg/traffic_light_recognition/TrafficLightStateArray.msg" + "msg/traffic_light_recognition/TrafficLightStateStamped.msg" + DEPENDENCIES + autoware_auto_perception_msgs + builtin_interfaces + geometry_msgs + sensor_msgs + std_msgs + unique_identifier_msgs +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package() diff --git a/messages/autoware_perception_msgs/msg/object_recognition/DetectedObjectWithFeature.msg b/messages/autoware_perception_msgs/msg/object_recognition/DetectedObjectWithFeature.msg new file mode 100644 index 0000000000000..08317899e9d0a --- /dev/null +++ b/messages/autoware_perception_msgs/msg/object_recognition/DetectedObjectWithFeature.msg @@ -0,0 +1,2 @@ +autoware_auto_perception_msgs/DetectedObject object +Feature feature diff --git a/messages/autoware_perception_msgs/msg/object_recognition/DetectedObjectsWithFeature.msg b/messages/autoware_perception_msgs/msg/object_recognition/DetectedObjectsWithFeature.msg new file mode 100644 index 0000000000000..62e61387d3a9d --- /dev/null +++ b/messages/autoware_perception_msgs/msg/object_recognition/DetectedObjectsWithFeature.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +DetectedObjectWithFeature[] feature_objects diff --git a/messages/autoware_perception_msgs/msg/object_recognition/DynamicObject.msg b/messages/autoware_perception_msgs/msg/object_recognition/DynamicObject.msg new file mode 100644 index 0000000000000..5b8be8e6aebd2 --- /dev/null +++ b/messages/autoware_perception_msgs/msg/object_recognition/DynamicObject.msg @@ -0,0 +1,4 @@ +unique_identifier_msgs/UUID id +Semantic semantic +State state +Shape shape diff --git a/messages/autoware_perception_msgs/msg/object_recognition/DynamicObjectArray.msg b/messages/autoware_perception_msgs/msg/object_recognition/DynamicObjectArray.msg new file mode 100644 index 0000000000000..b7ebf9abc3874 --- /dev/null +++ b/messages/autoware_perception_msgs/msg/object_recognition/DynamicObjectArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +DynamicObject[] objects diff --git a/messages/autoware_perception_msgs/msg/object_recognition/DynamicObjectWithFeature.msg b/messages/autoware_perception_msgs/msg/object_recognition/DynamicObjectWithFeature.msg new file mode 100644 index 0000000000000..dfcdccc24dfbc --- /dev/null +++ b/messages/autoware_perception_msgs/msg/object_recognition/DynamicObjectWithFeature.msg @@ -0,0 +1,2 @@ +DynamicObject object +Feature feature diff --git a/messages/autoware_perception_msgs/msg/object_recognition/DynamicObjectWithFeatureArray.msg b/messages/autoware_perception_msgs/msg/object_recognition/DynamicObjectWithFeatureArray.msg new file mode 100644 index 0000000000000..50fb8f4b58fb1 --- /dev/null +++ b/messages/autoware_perception_msgs/msg/object_recognition/DynamicObjectWithFeatureArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +DynamicObjectWithFeature[] feature_objects diff --git a/messages/autoware_perception_msgs/msg/object_recognition/Feature.msg b/messages/autoware_perception_msgs/msg/object_recognition/Feature.msg new file mode 100644 index 0000000000000..de9c065ca353b --- /dev/null +++ b/messages/autoware_perception_msgs/msg/object_recognition/Feature.msg @@ -0,0 +1,2 @@ +sensor_msgs/PointCloud2 cluster +sensor_msgs/RegionOfInterest roi diff --git a/messages/autoware_perception_msgs/msg/object_recognition/PredictedPath.msg b/messages/autoware_perception_msgs/msg/object_recognition/PredictedPath.msg new file mode 100644 index 0000000000000..c801c981e3288 --- /dev/null +++ b/messages/autoware_perception_msgs/msg/object_recognition/PredictedPath.msg @@ -0,0 +1,2 @@ +geometry_msgs/PoseWithCovarianceStamped[] path +float64 confidence diff --git a/messages/autoware_perception_msgs/msg/object_recognition/Semantic.msg b/messages/autoware_perception_msgs/msg/object_recognition/Semantic.msg new file mode 100644 index 0000000000000..272719022ac8d --- /dev/null +++ b/messages/autoware_perception_msgs/msg/object_recognition/Semantic.msg @@ -0,0 +1,10 @@ +uint8 UNKNOWN=0 +uint8 CAR=1 +uint8 TRUCK=2 +uint8 BUS=3 +uint8 BICYCLE=4 +uint8 MOTORBIKE=5 +uint8 PEDESTRIAN=6 +uint8 ANIMAL=7 +uint32 type +float64 confidence diff --git a/messages/autoware_perception_msgs/msg/object_recognition/Shape.msg b/messages/autoware_perception_msgs/msg/object_recognition/Shape.msg new file mode 100644 index 0000000000000..b7041fc51346b --- /dev/null +++ b/messages/autoware_perception_msgs/msg/object_recognition/Shape.msg @@ -0,0 +1,7 @@ +uint8 BOUNDING_BOX=0 +uint8 CYLINDER=1 +uint8 POLYGON=2 + +uint8 type +geometry_msgs/Vector3 dimensions +geometry_msgs/Polygon footprint diff --git a/messages/autoware_perception_msgs/msg/object_recognition/State.msg b/messages/autoware_perception_msgs/msg/object_recognition/State.msg new file mode 100644 index 0000000000000..70daef0dfa1d5 --- /dev/null +++ b/messages/autoware_perception_msgs/msg/object_recognition/State.msg @@ -0,0 +1,7 @@ +geometry_msgs/PoseWithCovariance pose_covariance +bool orientation_reliable +geometry_msgs/TwistWithCovariance twist_covariance +bool twist_reliable +geometry_msgs/AccelWithCovariance acceleration_covariance +bool acceleration_reliable +PredictedPath[] predicted_paths diff --git a/messages/autoware_perception_msgs/msg/traffic_light_recognition/LampState.msg b/messages/autoware_perception_msgs/msg/traffic_light_recognition/LampState.msg new file mode 100644 index 0000000000000..54b52b5e29a2f --- /dev/null +++ b/messages/autoware_perception_msgs/msg/traffic_light_recognition/LampState.msg @@ -0,0 +1,10 @@ +uint8 UNKNOWN=0 +uint8 RED=1 +uint8 GREEN=2 +uint8 YELLOW=3 +uint8 LEFT=4 +uint8 RIGHT=5 +uint8 UP=6 +uint8 DOWN=7 +uint32 type +float32 confidence diff --git a/messages/autoware_perception_msgs/msg/traffic_light_recognition/LookingTrafficLightState.msg b/messages/autoware_perception_msgs/msg/traffic_light_recognition/LookingTrafficLightState.msg new file mode 100644 index 0000000000000..134059e305c2b --- /dev/null +++ b/messages/autoware_perception_msgs/msg/traffic_light_recognition/LookingTrafficLightState.msg @@ -0,0 +1,7 @@ +std_msgs/Header header + +bool is_module_running + +autoware_perception_msgs/TrafficLightStateWithJudge perception +autoware_perception_msgs/TrafficLightStateWithJudge external +autoware_perception_msgs/TrafficLightStateWithJudge final diff --git a/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightRoi.msg b/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightRoi.msg new file mode 100644 index 0000000000000..ddc6d6a339788 --- /dev/null +++ b/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightRoi.msg @@ -0,0 +1,2 @@ +sensor_msgs/RegionOfInterest roi +int32 id diff --git a/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightRoiArray.msg b/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightRoiArray.msg new file mode 100644 index 0000000000000..5201b6bd14c3a --- /dev/null +++ b/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightRoiArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +autoware_perception_msgs/TrafficLightRoi[] rois diff --git a/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightState.msg b/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightState.msg new file mode 100644 index 0000000000000..128107862d1a6 --- /dev/null +++ b/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightState.msg @@ -0,0 +1,2 @@ +autoware_perception_msgs/LampState[] lamp_states +int32 id diff --git a/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightStateArray.msg b/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightStateArray.msg new file mode 100644 index 0000000000000..fa014b14dca4e --- /dev/null +++ b/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightStateArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +autoware_perception_msgs/TrafficLightState[] states diff --git a/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightStateStamped.msg b/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightStateStamped.msg new file mode 100644 index 0000000000000..7f5cc406df6ef --- /dev/null +++ b/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightStateStamped.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +autoware_perception_msgs/TrafficLightState state diff --git a/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightStateWithJudge.msg b/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightStateWithJudge.msg new file mode 100644 index 0000000000000..de5a313cca9b8 --- /dev/null +++ b/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightStateWithJudge.msg @@ -0,0 +1,8 @@ +bool has_state + +autoware_perception_msgs/TrafficLightState state + +uint8 judge +uint8 NONE = 0 +uint8 STOP = 1 +uint8 GO = 2 diff --git a/messages/autoware_perception_msgs/package.xml b/messages/autoware_perception_msgs/package.xml new file mode 100644 index 0000000000000..4832dc3b380d3 --- /dev/null +++ b/messages/autoware_perception_msgs/package.xml @@ -0,0 +1,31 @@ + + + + autoware_perception_msgs + 0.1.0 + The autoware_perception_msgs package + Yukihiro Saito + Apache License 2.0 + + ament_cmake_auto + + rosidl_default_generators + + autoware_auto_perception_msgs + builtin_interfaces + geometry_msgs + sensor_msgs + std_msgs + unique_identifier_msgs + + rosidl_default_runtime + + ament_lint_auto + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + diff --git a/messages/autoware_planning_msgs/CMakeLists.txt b/messages/autoware_planning_msgs/CMakeLists.txt new file mode 100644 index 0000000000000..18b30682e5109 --- /dev/null +++ b/messages/autoware_planning_msgs/CMakeLists.txt @@ -0,0 +1,56 @@ +cmake_minimum_required(VERSION 3.5) +project(autoware_planning_msgs) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + set(CMAKE_CXX_EXTENSIONS OFF) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/Approval.msg" + "msg/EnableAvoidance.msg" + "msg/ExpandStopRange.msg" + "msg/IsAvoidancePossible.msg" + "msg/LaneChangeCommand.msg" + "msg/LaneChangeStatus.msg" + "msg/LaneSequence.msg" + "msg/LateralOffset.msg" + "msg/Path.msg" + "msg/PathChangeModule.msg" + "msg/PathChangeModuleArray.msg" + "msg/PathChangeModuleId.msg" + "msg/PathPoint.msg" + "msg/PathWithLaneId.msg" + "msg/PathPointWithLaneId.msg" + "msg/Route.msg" + "msg/RouteSection.msg" + "msg/Scenario.msg" + "msg/StopFactor.msg" + "msg/StopReason.msg" + "msg/StopReasonArray.msg" + "msg/StopSpeedExceeded.msg" + "msg/Trajectory.msg" + "msg/TrajectoryPoint.msg" + "msg/VelocityLimit.msg" + "msg/VelocityLimitClearCommand.msg" + "msg/VelocityLimitConstraints.msg" + DEPENDENCIES + geometry_msgs + nav_msgs + std_msgs +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package() diff --git a/messages/autoware_planning_msgs/msg/Approval.msg b/messages/autoware_planning_msgs/msg/Approval.msg new file mode 100644 index 0000000000000..c36ce4c9c6852 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/Approval.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +bool approval diff --git a/messages/autoware_planning_msgs/msg/EnableAvoidance.msg b/messages/autoware_planning_msgs/msg/EnableAvoidance.msg new file mode 100644 index 0000000000000..df63fdcb97002 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/EnableAvoidance.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +bool enable_avoidance diff --git a/messages/autoware_planning_msgs/msg/ExpandStopRange.msg b/messages/autoware_planning_msgs/msg/ExpandStopRange.msg new file mode 100644 index 0000000000000..085e3d0b15b86 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/ExpandStopRange.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +float32 expand_stop_range diff --git a/messages/autoware_planning_msgs/msg/IsAvoidancePossible.msg b/messages/autoware_planning_msgs/msg/IsAvoidancePossible.msg new file mode 100644 index 0000000000000..71e8b39c03491 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/IsAvoidancePossible.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +bool is_avoidance_possible diff --git a/messages/autoware_planning_msgs/msg/LaneChangeCommand.msg b/messages/autoware_planning_msgs/msg/LaneChangeCommand.msg new file mode 100644 index 0000000000000..ed2f7e24db93c --- /dev/null +++ b/messages/autoware_planning_msgs/msg/LaneChangeCommand.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +bool command diff --git a/messages/autoware_planning_msgs/msg/LaneChangeStatus.msg b/messages/autoware_planning_msgs/msg/LaneChangeStatus.msg new file mode 100644 index 0000000000000..2e798ccc30303 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/LaneChangeStatus.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +bool status diff --git a/messages/autoware_planning_msgs/msg/LaneSequence.msg b/messages/autoware_planning_msgs/msg/LaneSequence.msg new file mode 100644 index 0000000000000..5cd41fda26a49 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/LaneSequence.msg @@ -0,0 +1 @@ +int64[] lane_ids diff --git a/messages/autoware_planning_msgs/msg/LateralOffset.msg b/messages/autoware_planning_msgs/msg/LateralOffset.msg new file mode 100644 index 0000000000000..73a7950b3cc38 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/LateralOffset.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +float32 lateral_offset diff --git a/messages/autoware_planning_msgs/msg/Path.msg b/messages/autoware_planning_msgs/msg/Path.msg new file mode 100644 index 0000000000000..137b412f1f561 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/Path.msg @@ -0,0 +1,3 @@ +std_msgs/Header header +autoware_planning_msgs/PathPoint[] points +nav_msgs/OccupancyGrid drivable_area diff --git a/messages/autoware_planning_msgs/msg/PathChangeModule.msg b/messages/autoware_planning_msgs/msg/PathChangeModule.msg new file mode 100644 index 0000000000000..d82a30c155140 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/PathChangeModule.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +autoware_planning_msgs/PathChangeModuleId module diff --git a/messages/autoware_planning_msgs/msg/PathChangeModuleArray.msg b/messages/autoware_planning_msgs/msg/PathChangeModuleArray.msg new file mode 100644 index 0000000000000..a84d8bf5f66b7 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/PathChangeModuleArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +autoware_planning_msgs/PathChangeModuleId[] modules diff --git a/messages/autoware_planning_msgs/msg/PathChangeModuleId.msg b/messages/autoware_planning_msgs/msg/PathChangeModuleId.msg new file mode 100644 index 0000000000000..569517fdcf4bd --- /dev/null +++ b/messages/autoware_planning_msgs/msg/PathChangeModuleId.msg @@ -0,0 +1,8 @@ +int32 type + +int32 NONE = 0 +int32 AVOIDANCE = 1 +int32 LANE_CHANGE = 2 +int32 FORCE_LANE_CHANGE = 3 +int32 PULL_OVER = 4 +int32 PULL_OUT = 5 diff --git a/messages/autoware_planning_msgs/msg/PathPoint.msg b/messages/autoware_planning_msgs/msg/PathPoint.msg new file mode 100644 index 0000000000000..13f4fe90be4a8 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/PathPoint.msg @@ -0,0 +1,5 @@ +uint8 REFERENCE=0 +uint8 FIXED=1 +geometry_msgs/Pose pose +geometry_msgs/Twist twist +uint8 type diff --git a/messages/autoware_planning_msgs/msg/PathPointWithLaneId.msg b/messages/autoware_planning_msgs/msg/PathPointWithLaneId.msg new file mode 100644 index 0000000000000..19eea9fec39a1 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/PathPointWithLaneId.msg @@ -0,0 +1,2 @@ +autoware_planning_msgs/PathPoint point +int64[] lane_ids diff --git a/messages/autoware_planning_msgs/msg/PathWithLaneId.msg b/messages/autoware_planning_msgs/msg/PathWithLaneId.msg new file mode 100644 index 0000000000000..cedf27c5551b6 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/PathWithLaneId.msg @@ -0,0 +1,3 @@ +std_msgs/Header header +autoware_planning_msgs/PathPointWithLaneId[] points +nav_msgs/OccupancyGrid drivable_area diff --git a/messages/autoware_planning_msgs/msg/Route.msg b/messages/autoware_planning_msgs/msg/Route.msg new file mode 100644 index 0000000000000..1358e97d0c593 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/Route.msg @@ -0,0 +1,3 @@ +std_msgs/Header header +geometry_msgs/Pose goal_pose +autoware_planning_msgs/RouteSection[] route_sections diff --git a/messages/autoware_planning_msgs/msg/RouteSection.msg b/messages/autoware_planning_msgs/msg/RouteSection.msg new file mode 100644 index 0000000000000..9efe843385d71 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/RouteSection.msg @@ -0,0 +1,3 @@ +int64[] lane_ids +int64 preferred_lane_id +int64[] continued_lane_ids diff --git a/messages/autoware_planning_msgs/msg/Scenario.msg b/messages/autoware_planning_msgs/msg/Scenario.msg new file mode 100644 index 0000000000000..0a2439d10c849 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/Scenario.msg @@ -0,0 +1,6 @@ +string EMPTY=Empty +string LANEDRIVING=LaneDriving +string PARKING=Parking + +string current_scenario +string[] activating_scenarios diff --git a/messages/autoware_planning_msgs/msg/StopFactor.msg b/messages/autoware_planning_msgs/msg/StopFactor.msg new file mode 100644 index 0000000000000..2eefc6f382493 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/StopFactor.msg @@ -0,0 +1,3 @@ +geometry_msgs/Pose stop_pose +float64 dist_to_stop_pose +geometry_msgs/Point[] stop_factor_points diff --git a/messages/autoware_planning_msgs/msg/StopReason.msg b/messages/autoware_planning_msgs/msg/StopReason.msg new file mode 100644 index 0000000000000..496c4512e2cae --- /dev/null +++ b/messages/autoware_planning_msgs/msg/StopReason.msg @@ -0,0 +1,18 @@ +string INTERSECTION=Intersection +string MERGE_FROM_PRIVATE_ROAD=MergeFromPrivateRoad +string CROSSWALK=Crosswalk +string WALKWAY=Walkway +string STOP_LINE=StopLine +string DETECTION_AREA=DetectionArea +string NO_STOPPING_AREA=NoStoppingArea +string TRAFFIC_LIGHT=TrafficLight +string OBSTACLE_STOP=ObstacleStop +string SURROUND_OBSTACLE_CHECK=SurroundObstacleCheck +string BLIND_SPOT=BlindSpot +string BLOCKED_BY_OBSTACLE=BlockedByObstacle +string STOPPING_LANE_CHANGE=StoppingLaneChange +string REMOTE_EMERGENCY_STOP=RemoteEmergencyStop +string VIRTUAL_TRAFFIC_LIGHT=VirtualTrafficLight +string reason + +autoware_planning_msgs/StopFactor[] stop_factors diff --git a/messages/autoware_planning_msgs/msg/StopReasonArray.msg b/messages/autoware_planning_msgs/msg/StopReasonArray.msg new file mode 100644 index 0000000000000..3b92de753c3d6 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/StopReasonArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +autoware_planning_msgs/StopReason[] stop_reasons diff --git a/messages/autoware_planning_msgs/msg/StopSpeedExceeded.msg b/messages/autoware_planning_msgs/msg/StopSpeedExceeded.msg new file mode 100644 index 0000000000000..d5ea8d855b3df --- /dev/null +++ b/messages/autoware_planning_msgs/msg/StopSpeedExceeded.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +bool stop_speed_exceeded diff --git a/messages/autoware_planning_msgs/msg/Trajectory.msg b/messages/autoware_planning_msgs/msg/Trajectory.msg new file mode 100644 index 0000000000000..fb2af366d84ef --- /dev/null +++ b/messages/autoware_planning_msgs/msg/Trajectory.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +autoware_planning_msgs/TrajectoryPoint[] points diff --git a/messages/autoware_planning_msgs/msg/TrajectoryPoint.msg b/messages/autoware_planning_msgs/msg/TrajectoryPoint.msg new file mode 100644 index 0000000000000..0fec3ae2ca694 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/TrajectoryPoint.msg @@ -0,0 +1,3 @@ +geometry_msgs/Pose pose +geometry_msgs/Twist twist +geometry_msgs/Accel accel diff --git a/messages/autoware_planning_msgs/msg/VelocityLimit.msg b/messages/autoware_planning_msgs/msg/VelocityLimit.msg new file mode 100644 index 0000000000000..e0506137e5376 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/VelocityLimit.msg @@ -0,0 +1,7 @@ +builtin_interfaces/Time stamp +float32 max_velocity + +bool use_constraints false +autoware_planning_msgs/VelocityLimitConstraints constraints + +string sender diff --git a/messages/autoware_planning_msgs/msg/VelocityLimitClearCommand.msg b/messages/autoware_planning_msgs/msg/VelocityLimitClearCommand.msg new file mode 100644 index 0000000000000..881b95c6df22c --- /dev/null +++ b/messages/autoware_planning_msgs/msg/VelocityLimitClearCommand.msg @@ -0,0 +1,3 @@ +builtin_interfaces/Time stamp +bool command false +string sender diff --git a/messages/autoware_planning_msgs/msg/VelocityLimitConstraints.msg b/messages/autoware_planning_msgs/msg/VelocityLimitConstraints.msg new file mode 100644 index 0000000000000..ca44d8c321b37 --- /dev/null +++ b/messages/autoware_planning_msgs/msg/VelocityLimitConstraints.msg @@ -0,0 +1,3 @@ +float32 min_acceleration +float32 max_jerk +float32 min_jerk diff --git a/messages/autoware_planning_msgs/package.xml b/messages/autoware_planning_msgs/package.xml new file mode 100644 index 0000000000000..49d0ae17d3744 --- /dev/null +++ b/messages/autoware_planning_msgs/package.xml @@ -0,0 +1,29 @@ + + + + autoware_planning_msgs + 0.1.0 + The autoware_planning_msgs package + Yukihiro Saito + Apache License 2.0 + + ament_cmake_auto + + rosidl_default_generators + + builtin_interfaces + geometry_msgs + nav_msgs + std_msgs + + rosidl_default_runtime + + ament_lint_auto + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + diff --git a/messages/autoware_simulation_msgs/CMakeLists.txt b/messages/autoware_simulation_msgs/CMakeLists.txt new file mode 100644 index 0000000000000..0cad84195bc9a --- /dev/null +++ b/messages/autoware_simulation_msgs/CMakeLists.txt @@ -0,0 +1,30 @@ +cmake_minimum_required(VERSION 3.5) +project(autoware_simulation_msgs) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + set(CMAKE_CXX_EXTENSIONS OFF) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/FaultInjectionEvent.msg" + "msg/SimulationEvents.msg" + DEPENDENCIES + builtin_interfaces + std_msgs +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package() diff --git a/messages/autoware_simulation_msgs/msg/FaultInjectionEvent.msg b/messages/autoware_simulation_msgs/msg/FaultInjectionEvent.msg new file mode 100644 index 0000000000000..e02a99d6e26cc --- /dev/null +++ b/messages/autoware_simulation_msgs/msg/FaultInjectionEvent.msg @@ -0,0 +1,7 @@ +int8 OK=0 +int8 WARN=1 +int8 ERROR=2 +int8 STALE=3 + +int8 level +string name diff --git a/messages/autoware_simulation_msgs/msg/SimulationEvents.msg b/messages/autoware_simulation_msgs/msg/SimulationEvents.msg new file mode 100644 index 0000000000000..e2f784ea97d4d --- /dev/null +++ b/messages/autoware_simulation_msgs/msg/SimulationEvents.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +autoware_simulation_msgs/FaultInjectionEvent[] fault_injection_events diff --git a/messages/autoware_simulation_msgs/package.xml b/messages/autoware_simulation_msgs/package.xml new file mode 100644 index 0000000000000..b90f4026adcc8 --- /dev/null +++ b/messages/autoware_simulation_msgs/package.xml @@ -0,0 +1,27 @@ + + + + autoware_simulation_msgs + 0.1.0 + The autoware_simulation_msgs package + Kenji Miyake + Apache License 2.0 + + ament_cmake_auto + rosidl_default_generators + + + builtin_interfaces + std_msgs + + rosidl_default_runtime + + ament_lint_auto + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + diff --git a/messages/autoware_system_msgs/CMakeLists.txt b/messages/autoware_system_msgs/CMakeLists.txt new file mode 100644 index 0000000000000..114eeeb62e5d5 --- /dev/null +++ b/messages/autoware_system_msgs/CMakeLists.txt @@ -0,0 +1,35 @@ +cmake_minimum_required(VERSION 3.5) +project(autoware_system_msgs) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + set(CMAKE_CXX_EXTENSIONS OFF) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/AutowareState.msg" + "msg/AutowareVersion.msg" + "msg/HazardStatus.msg" + "msg/HazardStatusStamped.msg" + "msg/TimeoutNotification.msg" + "msg/EmergencyState.msg" + "msg/EmergencyStateStamped.msg" + DEPENDENCIES + diagnostic_msgs + std_msgs +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package() diff --git a/messages/autoware_system_msgs/msg/AutowareState.msg b/messages/autoware_system_msgs/msg/AutowareState.msg new file mode 100644 index 0000000000000..4a8d1df8f0610 --- /dev/null +++ b/messages/autoware_system_msgs/msg/AutowareState.msg @@ -0,0 +1,11 @@ +string INITIALIZING_VEHICLE=InitializingVehicle +string WAITING_FOR_ROUTE=WaitingForRoute +string PLANNING=Planning +string WAITING_FOR_ENGAGE=WaitingForEngage +string DRIVING=Driving +string ARRIVAL_GOAL=ArrivedGoal +string EMERGENCY=Emergency +string FINALIZING=Finalizing + +string state +string msg diff --git a/messages/autoware_system_msgs/msg/AutowareVersion.msg b/messages/autoware_system_msgs/msg/AutowareVersion.msg new file mode 100644 index 0000000000000..0a921d869e555 --- /dev/null +++ b/messages/autoware_system_msgs/msg/AutowareVersion.msg @@ -0,0 +1,8 @@ +uint32 ROS_VERSION_1 = 1 +uint32 ROS_VERSION_2 = 2 +string ROS_DISTRO_MELODIC = "melodic" +string ROS_DISTRO_NOETIC = "noetic" +string ROS_DISTRO_FOXY = "foxy" + +uint32 ros_version 0 +string ros_distro "" diff --git a/messages/autoware_system_msgs/msg/EmergencyState.msg b/messages/autoware_system_msgs/msg/EmergencyState.msg new file mode 100644 index 0000000000000..842213396d5f5 --- /dev/null +++ b/messages/autoware_system_msgs/msg/EmergencyState.msg @@ -0,0 +1,7 @@ +uint8 NORMAL = 1 +uint8 OVERRIDE_REQUESTING = 2 +uint8 MRM_OPERATING = 3 +uint8 MRM_SUCCEEDED = 4 +uint8 MRM_FAILED = 5 + +uint8 state diff --git a/messages/autoware_system_msgs/msg/EmergencyStateStamped.msg b/messages/autoware_system_msgs/msg/EmergencyStateStamped.msg new file mode 100644 index 0000000000000..a121282154d5e --- /dev/null +++ b/messages/autoware_system_msgs/msg/EmergencyStateStamped.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +autoware_system_msgs/EmergencyState state diff --git a/messages/autoware_system_msgs/msg/HazardStatus.msg b/messages/autoware_system_msgs/msg/HazardStatus.msg new file mode 100644 index 0000000000000..5bff7be98c6b1 --- /dev/null +++ b/messages/autoware_system_msgs/msg/HazardStatus.msg @@ -0,0 +1,12 @@ +int32 NO_FAULT = 0 +int32 SAFE_FAULT = 1 +int32 LATENT_FAULT = 2 +int32 SINGLE_POINT_FAULT = 3 + +int32 level +bool emergency +bool emergency_holding +diagnostic_msgs/DiagnosticStatus[] diagnostics_nf # diagnostics categorized as no fault +diagnostic_msgs/DiagnosticStatus[] diagnostics_sf # diagnostics categorized as safe fault +diagnostic_msgs/DiagnosticStatus[] diagnostics_lf # diagnostics categorized as latent fault +diagnostic_msgs/DiagnosticStatus[] diagnostics_spf # diagnostics categorized as single point fault diff --git a/messages/autoware_system_msgs/msg/HazardStatusStamped.msg b/messages/autoware_system_msgs/msg/HazardStatusStamped.msg new file mode 100644 index 0000000000000..43f7db7fe66e9 --- /dev/null +++ b/messages/autoware_system_msgs/msg/HazardStatusStamped.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +autoware_system_msgs/HazardStatus status diff --git a/messages/autoware_system_msgs/msg/TimeoutNotification.msg b/messages/autoware_system_msgs/msg/TimeoutNotification.msg new file mode 100644 index 0000000000000..19cc3b2064332 --- /dev/null +++ b/messages/autoware_system_msgs/msg/TimeoutNotification.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +bool is_timeout diff --git a/messages/autoware_system_msgs/package.xml b/messages/autoware_system_msgs/package.xml new file mode 100644 index 0000000000000..e0bf51b426aad --- /dev/null +++ b/messages/autoware_system_msgs/package.xml @@ -0,0 +1,27 @@ + + + + autoware_system_msgs + 0.1.0 + The autoware_system_msgs package + Kenji Miyake + Apache License 2.0 + + ament_cmake_auto + + rosidl_default_generators + + diagnostic_msgs + std_msgs + + rosidl_default_runtime + + ament_lint_auto + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + diff --git a/messages/autoware_v2x_msgs/CMakeLists.txt b/messages/autoware_v2x_msgs/CMakeLists.txt new file mode 100644 index 0000000000000..dde3d4e7f8c73 --- /dev/null +++ b/messages/autoware_v2x_msgs/CMakeLists.txt @@ -0,0 +1,32 @@ +cmake_minimum_required(VERSION 3.5) +project(autoware_v2x_msgs) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + set(CMAKE_CXX_EXTENSIONS OFF) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/InfrastructureCommand.msg" + "msg/InfrastructureCommandArray.msg" + "msg/KeyValue.msg" + "msg/VirtualTrafficLightState.msg" + "msg/VirtualTrafficLightStateArray.msg" + DEPENDENCIES + std_msgs +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package() diff --git a/messages/autoware_v2x_msgs/msg/InfrastructureCommand.msg b/messages/autoware_v2x_msgs/msg/InfrastructureCommand.msg new file mode 100644 index 0000000000000..57f876917df6a --- /dev/null +++ b/messages/autoware_v2x_msgs/msg/InfrastructureCommand.msg @@ -0,0 +1,13 @@ +# constants +uint8 NONE=0 +uint8 REQUESTING=1 +uint8 PASSING=2 +uint8 FINALIZING=3 +uint8 FINALIZED=4 + +# fields +builtin_interfaces/Time stamp +string type +string id +autoware_v2x_msgs/KeyValue[] custom_tags # custom tags are set based on the 'type' +uint8 state diff --git a/messages/autoware_v2x_msgs/msg/InfrastructureCommandArray.msg b/messages/autoware_v2x_msgs/msg/InfrastructureCommandArray.msg new file mode 100644 index 0000000000000..d4f563f3484f1 --- /dev/null +++ b/messages/autoware_v2x_msgs/msg/InfrastructureCommandArray.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +autoware_v2x_msgs/InfrastructureCommand[] commands diff --git a/messages/autoware_v2x_msgs/msg/KeyValue.msg b/messages/autoware_v2x_msgs/msg/KeyValue.msg new file mode 100644 index 0000000000000..6f825d5f60c2c --- /dev/null +++ b/messages/autoware_v2x_msgs/msg/KeyValue.msg @@ -0,0 +1,2 @@ +string key +string value diff --git a/messages/autoware_v2x_msgs/msg/VirtualTrafficLightState.msg b/messages/autoware_v2x_msgs/msg/VirtualTrafficLightState.msg new file mode 100644 index 0000000000000..e0e9c6269707b --- /dev/null +++ b/messages/autoware_v2x_msgs/msg/VirtualTrafficLightState.msg @@ -0,0 +1,5 @@ +builtin_interfaces/Time stamp +string type +string id +bool approval +bool is_finalized # if finalization isn't required, always set to true diff --git a/messages/autoware_v2x_msgs/msg/VirtualTrafficLightStateArray.msg b/messages/autoware_v2x_msgs/msg/VirtualTrafficLightStateArray.msg new file mode 100644 index 0000000000000..9ff367d1ad75c --- /dev/null +++ b/messages/autoware_v2x_msgs/msg/VirtualTrafficLightStateArray.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +autoware_v2x_msgs/VirtualTrafficLightState[] states diff --git a/messages/autoware_v2x_msgs/package.xml b/messages/autoware_v2x_msgs/package.xml new file mode 100644 index 0000000000000..0dc0990c0de34 --- /dev/null +++ b/messages/autoware_v2x_msgs/package.xml @@ -0,0 +1,27 @@ + + + + autoware_v2x_msgs + 0.1.0 + The autoware_v2x_msgs package + Kenji Miyake + Apache License 2.0 + + ament_cmake_auto + + rosidl_default_generators + + builtin_interfaces + std_msgs + + rosidl_default_runtime + + ament_lint_auto + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + diff --git a/messages/autoware_vehicle_msgs/CMakeLists.txt b/messages/autoware_vehicle_msgs/CMakeLists.txt new file mode 100644 index 0000000000000..3de2e2efff775 --- /dev/null +++ b/messages/autoware_vehicle_msgs/CMakeLists.txt @@ -0,0 +1,41 @@ +cmake_minimum_required(VERSION 3.5) +project(autoware_vehicle_msgs) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/ActuationCommand.msg" + "msg/ActuationCommandStamped.msg" + "msg/ActuationStatus.msg" + "msg/ActuationStatusStamped.msg" + "msg/BatteryStatus.msg" + "msg/Engage.msg" + "msg/VehicleCommand.msg" + "msg/Shift.msg" + "msg/ShiftStamped.msg" + "msg/ControlMode.msg" + "msg/TurnSignal.msg" + "msg/Steering.msg" + "msg/SteeringWheelStatusStamped.msg" + "msg/VehicleEmergencyStamped.msg" + "msg/RawVehicleCommand.msg" + "msg/RawControlCommand.msg" + "srv/UpdateAccelBrakeMap.srv" + DEPENDENCIES std_msgs geometry_msgs autoware_control_msgs +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package() diff --git a/messages/autoware_vehicle_msgs/msg/ActuationCommand.msg b/messages/autoware_vehicle_msgs/msg/ActuationCommand.msg new file mode 100644 index 0000000000000..2f7205f9dd430 --- /dev/null +++ b/messages/autoware_vehicle_msgs/msg/ActuationCommand.msg @@ -0,0 +1,3 @@ +float64 accel_cmd +float64 brake_cmd +float64 steer_cmd diff --git a/messages/autoware_vehicle_msgs/msg/ActuationCommandStamped.msg b/messages/autoware_vehicle_msgs/msg/ActuationCommandStamped.msg new file mode 100644 index 0000000000000..5a0b325f8abd6 --- /dev/null +++ b/messages/autoware_vehicle_msgs/msg/ActuationCommandStamped.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +autoware_vehicle_msgs/ActuationCommand actuation diff --git a/messages/autoware_vehicle_msgs/msg/ActuationStatus.msg b/messages/autoware_vehicle_msgs/msg/ActuationStatus.msg new file mode 100644 index 0000000000000..28c3064c6c1e2 --- /dev/null +++ b/messages/autoware_vehicle_msgs/msg/ActuationStatus.msg @@ -0,0 +1,3 @@ +float64 accel_status +float64 brake_status +float64 steer_status diff --git a/messages/autoware_vehicle_msgs/msg/ActuationStatusStamped.msg b/messages/autoware_vehicle_msgs/msg/ActuationStatusStamped.msg new file mode 100644 index 0000000000000..90801ac457337 --- /dev/null +++ b/messages/autoware_vehicle_msgs/msg/ActuationStatusStamped.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +autoware_vehicle_msgs/ActuationStatus status diff --git a/messages/autoware_vehicle_msgs/msg/BatteryStatus.msg b/messages/autoware_vehicle_msgs/msg/BatteryStatus.msg new file mode 100644 index 0000000000000..a38a76c07de91 --- /dev/null +++ b/messages/autoware_vehicle_msgs/msg/BatteryStatus.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +float32 energy_level diff --git a/messages/autoware_vehicle_msgs/msg/ControlMode.msg b/messages/autoware_vehicle_msgs/msg/ControlMode.msg new file mode 100644 index 0000000000000..7636c2e4f9752 --- /dev/null +++ b/messages/autoware_vehicle_msgs/msg/ControlMode.msg @@ -0,0 +1,7 @@ +std_msgs/Header header +uint8 MANUAL = 0 +uint8 AUTO = 1 +uint8 AUTO_STEER_ONLY = 2 +uint8 AUTO_PEDAL_ONLY = 3 + +int32 data diff --git a/messages/autoware_vehicle_msgs/msg/Engage.msg b/messages/autoware_vehicle_msgs/msg/Engage.msg new file mode 100644 index 0000000000000..c5fe7dc3988b9 --- /dev/null +++ b/messages/autoware_vehicle_msgs/msg/Engage.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +bool engage diff --git a/messages/autoware_vehicle_msgs/msg/RawControlCommand.msg b/messages/autoware_vehicle_msgs/msg/RawControlCommand.msg new file mode 100644 index 0000000000000..8209a16efb163 --- /dev/null +++ b/messages/autoware_vehicle_msgs/msg/RawControlCommand.msg @@ -0,0 +1,4 @@ +float64 steering_angle +float64 steering_angle_velocity +float64 throttle +float64 brake diff --git a/messages/autoware_vehicle_msgs/msg/RawVehicleCommand.msg b/messages/autoware_vehicle_msgs/msg/RawVehicleCommand.msg new file mode 100644 index 0000000000000..63e47643d89e7 --- /dev/null +++ b/messages/autoware_vehicle_msgs/msg/RawVehicleCommand.msg @@ -0,0 +1,4 @@ +std_msgs/Header header +autoware_vehicle_msgs/RawControlCommand control +autoware_vehicle_msgs/Shift shift +int32 emergency diff --git a/messages/autoware_vehicle_msgs/msg/Shift.msg b/messages/autoware_vehicle_msgs/msg/Shift.msg new file mode 100644 index 0000000000000..a7db87dffb9dc --- /dev/null +++ b/messages/autoware_vehicle_msgs/msg/Shift.msg @@ -0,0 +1,8 @@ +uint8 NONE=0 +uint8 PARKING=1 +uint8 REVERSE=2 +uint8 NEUTRAL=3 +uint8 DRIVE=4 +uint8 LOW=5 + +int32 data diff --git a/messages/autoware_vehicle_msgs/msg/ShiftStamped.msg b/messages/autoware_vehicle_msgs/msg/ShiftStamped.msg new file mode 100644 index 0000000000000..2c03a95b406f2 --- /dev/null +++ b/messages/autoware_vehicle_msgs/msg/ShiftStamped.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +autoware_vehicle_msgs/Shift shift diff --git a/messages/autoware_vehicle_msgs/msg/Steering.msg b/messages/autoware_vehicle_msgs/msg/Steering.msg new file mode 100644 index 0000000000000..2072419759a45 --- /dev/null +++ b/messages/autoware_vehicle_msgs/msg/Steering.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +float32 data diff --git a/messages/autoware_vehicle_msgs/msg/SteeringWheelStatusStamped.msg b/messages/autoware_vehicle_msgs/msg/SteeringWheelStatusStamped.msg new file mode 100644 index 0000000000000..8d02ab5282df9 --- /dev/null +++ b/messages/autoware_vehicle_msgs/msg/SteeringWheelStatusStamped.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +float32 data diff --git a/messages/autoware_vehicle_msgs/msg/TurnSignal.msg b/messages/autoware_vehicle_msgs/msg/TurnSignal.msg new file mode 100644 index 0000000000000..b8cade81f7392 --- /dev/null +++ b/messages/autoware_vehicle_msgs/msg/TurnSignal.msg @@ -0,0 +1,8 @@ +std_msgs/Header header + +uint8 NONE = 0 +uint8 LEFT = 1 +uint8 RIGHT = 2 +uint8 HAZARD = 3 + +int32 data diff --git a/messages/autoware_vehicle_msgs/msg/VehicleCommand.msg b/messages/autoware_vehicle_msgs/msg/VehicleCommand.msg new file mode 100644 index 0000000000000..ec53597031b14 --- /dev/null +++ b/messages/autoware_vehicle_msgs/msg/VehicleCommand.msg @@ -0,0 +1,4 @@ +std_msgs/Header header +autoware_control_msgs/ControlCommand control +autoware_vehicle_msgs/Shift shift +int32 emergency diff --git a/messages/autoware_vehicle_msgs/msg/VehicleEmergencyStamped.msg b/messages/autoware_vehicle_msgs/msg/VehicleEmergencyStamped.msg new file mode 100644 index 0000000000000..b6f2933e20c8c --- /dev/null +++ b/messages/autoware_vehicle_msgs/msg/VehicleEmergencyStamped.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +bool emergency diff --git a/messages/autoware_vehicle_msgs/package.xml b/messages/autoware_vehicle_msgs/package.xml new file mode 100644 index 0000000000000..9f46c9fa40f8e --- /dev/null +++ b/messages/autoware_vehicle_msgs/package.xml @@ -0,0 +1,28 @@ + + + + autoware_vehicle_msgs + 0.1.0 + The autoware_vehicle_msgs package + Takamasa Horibe + Apache License 2.0 + + ament_cmake_auto + + rosidl_default_generators + + autoware_control_msgs + geometry_msgs + std_msgs + + rosidl_default_runtime + + ament_lint_auto + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + diff --git a/messages/autoware_vehicle_msgs/srv/UpdateAccelBrakeMap.srv b/messages/autoware_vehicle_msgs/srv/UpdateAccelBrakeMap.srv new file mode 100644 index 0000000000000..ee90ecbe53513 --- /dev/null +++ b/messages/autoware_vehicle_msgs/srv/UpdateAccelBrakeMap.srv @@ -0,0 +1,4 @@ +string path # path to directory the map will be saved +--- +bool success # indicate successful run of triggered service +string message # informational, e.g. for error messages diff --git a/messages/build_depends.repos b/messages/build_depends.repos new file mode 100644 index 0000000000000..c320c31a81cde --- /dev/null +++ b/messages/build_depends.repos @@ -0,0 +1,5 @@ +repositories: + msgs/autoware_auto_msgs: + type: git + url: https://github.com/tier4/autoware_auto_msgs.git + version: tier4/main